CN104897181A - Optical encoder and operating method thereof - Google Patents
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Abstract
The present invention relates to an optical encoder that can provide precise encoded reference data by identifying features without providing a high density of special patterns on a work surface or providing a reference object with special marks. The coded reference data can be accurately generated by detecting the surface features of the working surface.
Description
Technical field
The present invention is about a kind of optical encoder and How It Works thereof, it provides coded reference data accurately by recognition feature, it need not provide highdensity special pattern on the work surface, or there is the Reference of special marking, coded reference data can be generated accurately by the feature detecting surface.
Background technology
In known technology, in order to the technological means as optical encoding, usually need working surface to be processed into the mark with more than certain density supply light reflection or penetrate, or be need light source is arranged in a specific way and controls its sequence of light, to encode.Such as United States Patent (USP) number US8598509, which disclose multiple light source luminous with particular order, and assistant is to have the coding work face designing lines space in advance, make light can in a predetermined manner through lines space and detect by optical sensor, relend this testing result and produce coded reference data, such as, in the system position data, translational speed data etc. of certain element.
But this type of prior art needs first to carry out special processing to working surface, limits the application of this type of technology; Simultaneously in order to reach the testing result of pinpoint accuracy, the process of workplace being become complicated, also improves the degree of difficulty of this type of technology of application.
Summary of the invention
The object of this invention is to provide a kind of optical encoder, it has luminescence unit, light sensing unit, storage unit, processing unit.Wherein said luminescence unit can by light emission to the sensing surface needing to identify, light sensing unit then can the light that reflects from described surface of sensing and produce transducing signal, described processing unit then produces picture result according to described transducing signal, store in the memory unit, using the foundation as next code, the method for its picture process obtains including but not limited to numerical digit filtering, image intensification, edge, quantize or the combined treatment of one or more methods such as binaryzation.Relative motion can be there is in wherein said optical encoder with described surface, and described smooth sensing unit, described luminescence unit of arranging in pairs or groups, can produce transducing signal by high picture update rate (frame rate).When picture update rate is higher, the present invention can detect with higher relative velocity.
The present invention also provides a kind of optical encoder, comprises luminescence unit, light sensing unit and processing unit.Described luminescence unit in order to by light emission to sensing surface.Described smooth sensing unit in order to sensory reflex from the light of described sensing surface to produce transducing signal.Described processing unit, in order to deposit the reference data corresponding at least one reference position in record pattern according to described transducing signal storage, produces according to described transducing signal and treats contrast images data and treat that contrast images data and described reference data are to determine current location described in contrast in contrastive pattern.
The present invention also provides a kind of How It Works of optical encoder.Described optical encoder comprises light in order to sensory reflex self-sensing surface to produce the optical sensor of transducing signal and the processing unit in order to process described transducing signal.Described How It Works comprises: enter and deposit record pattern, described in deposit processing unit described in record pattern and store the reference data corresponding at least one reference position according to described transducing signal; And entering contrastive pattern, processing unit described in described contrastive pattern produces according to described transducing signal and treats contrast images data and treat that contrast images data and described reference data are to determine current location described in contrast.
The present invention also provides a kind of optical encoder, comprises luminescence unit, light sensing unit and processing unit.Described luminescence unit in order to by light emission to sensing surface.Described smooth sensing unit in order to sensory reflex from the light of described sensing surface to produce image.According to described image, described processing unit is in order to judge that the homeposition repeating to sense is to determine opereating specification and to store the reference data corresponding to origin position and at least one reference position in described opereating specification depositing in record pattern.
In one embodiment, described processing unit can utilize motion-vector, displacement, the anglec of rotation or rotational time to distinguish origin position and at least one reference position of described opereating specification.
In one embodiment, treat the alternate position spike of contrast images data and described reference data described in described processing unit can calculate and correct cumulative errors whereby.
In one embodiment, the described location recognition treating that the difference value of contrast images data and described reference data exceedes recognition threshold can be unidentified position by described processing unit.
For reaching aforementioned object, the present invention can note down the characteristic image of at least one frame tool in storage unit, for reference frame during next code, during especially for position correction function, origin position can be set exactly or user can set reference point locations arbitrarily according to demand.The characteristic image of described tool, can put on mark whereby and detect for sensing unit, or sensing unit detection surface characteristics produces whereby at sensing surface.
Optical encoder of the present invention can store the characteristic image of at least one frame tool or the rear image of process, described image can represent ad-hoc location, thus, when optical encoder photographs described image again, just by algorithm, return the position difference between twice image, use for the system comprising optical encoder.System can carry out fine setting calibration, to maintain good degree of accuracy to the position at its hardware place whereby.
When sensing surface utilizes mark to detect for sensing unit, the feature that described mark comprises, its size and feature position, need coordinate the sensing unit size of optical encoder, resolution and the position set by optical encoder and arrange.In general, the picture that the size of sensing unit is formed after needing to contain the feature reflection ray of mark, and the resolution of sensing unit needs the feature in energy discrimination screen.
Accompanying drawing explanation
Fig. 1 describes one embodiment of the invention;
The schematic diagram of the image that the light sensing unit of Fig. 1 a depiction 1 obtains.
Fig. 2 a-2e describes process flow diagram of the present invention;
Fig. 3 a and 3b describes the present invention and is applied in the markd sensitive face of not tool and has the upper schematic diagram of a small amount of sensitive face marked;
Fig. 4 describes another embodiment of the present invention;
Fig. 5 describes signal output waveform figure when the present invention is applied in not tool markd sensitive face;
Fig. 6 describes signal output waveform figure when the present invention is applied in tool markd sensitive face.
Description of reference numerals
100,300 optical encoders
101 luminescence units
103 smooth sensing units
105 processing units
107 sensing surfaces
109 storage unit
302a, 302b sensitive face
304a, 304b, 304c mark
TH1 recognition threshold
TH2 upgrades threshold value
F image
Embodiment
Following description comprises several embodiments of the present invention, comprises the schematic diagram of user's operation, to understand the present invention how to be applied in practical operation situation.It is noted that, following graphic in, the part irrelevant with the technology of the present invention is omitted, and simultaneously for highlighting the relation between element, the ratio between graphic inner each element might not be identical with the ratio between real element.
Fig. 1 illustrates one embodiment of the invention.Optical encoder 100 has luminescence unit 101, light sensing unit 103 and processing unit 105.Luminescence unit 101 in order to by light emission on sensing surface 107, light sensing unit 103 then can the light that reflects of sensing self-sensing surface 107 and produce transducing signal.Processing unit 105 can process transducing signal and produce picture recognition result, more described picture result can be stored in the memory body that such as processing unit 105 is built-in, or be stored in the hardware beyond optical encoder by transmission interface, use for access when subsequent control, contrast.
The schematic diagram of Fig. 1 a that please refer to, the image F that its display light sensing unit 103 obtains, it comprises 9 pixel P1-P9, but described number of pixels is only in order to illustrate, and is not used to limit the present invention.In one embodiment, processing unit 105 can calculate the GTG difference of neighbor according to image F.Such as, processing unit 105 by each pixel gray level value in image F with all differences being adjacent pixel gray level value compared with difference threshold, when described difference exceedes (being more than or equal to) described difference threshold count value add 1 and when described difference is less than described difference threshold count value add 0 or maintain described count value, such as calculate pixel P2, P4, P5 respectively with the GTG difference of pixel P1 and compared with difference threshold, calculate pixel P1, P3-P6 respectively with the GTG difference of pixel P2 and compared with difference threshold, the rest may be inferred.Whereby, processing unit 105 can be tried to achieve the count value corresponding to each pixel P1-P9 and be stored in numerical digit mode.In another embodiment, processing unit 105 can calculate the GTG difference between two sets of pixels, the grey decision-making of such as pixel P1 and pixel P9 adds up, the grey decision-making of pixel P3 and pixel P7 adds up, and when the total difference value that adds of these two groups of GTG differences exceedes difference threshold and is expressed as 0 and when GTG difference is less than described difference threshold and is expressed as 1 and stores.In other embodiments, also can store each pixel gray level value and be allly adjacent the average gray-scale value of pixel gray level value and carry out storing etc. in numerical digit mode.Above-mentioned stored data are all by the reference data used for access when subsequent control, contrast.Scrutable, the reference data of a stored image is not limited to data described in the present invention's explanation, as long as can highlight characteristics of image.
It should be noted that, design in response to optical facilities, light sensing unit 103 and luminescence unit 101 can be furnished in many ways, such as the two can symmetric reflective face normal mode be furnished, and makes light sensing unit 103 symmetry angle can accept the reflection ray (be such as called bright field configuration) of selfluminous cell 101; Or light sensing unit 103 can be furnished above the sensing surface 107 of luminescence unit 101 irradiation, to receive the light (being such as called details in a play not acted out on stage, but told through dialogues configuration) of sensing surface 107 scattering.And relative motion can be there is with sensing surface 107 in optical encoder 100.Sensing surface 107 can be applicable to multiple technologies field, control such as but not limited to knob, comprise the various instrument knob such as volume knob, humiture knob, or Linear Control, comprise the application such as the control of printer nozzle position, audio-visual read head position control, the control of Back mirror knob, angle of back-rest control.The feature of these applications is needs accurate definition origin position or multiple reference point locations.In optical encoder 100, all store the result of image corresponding to described origin position and each reference point locations, using the reference data as described position.
Fig. 2 a, 2b, 2c, 2d and 2e illustrate the process flow diagram of How It Works when applying of the present invention.When Fig. 2 a represents and applies of the present invention, must first make optical encoder enter and deposit record pattern (registration mode) 212, then just can enter contrastive pattern (comparison mode) 214.When optical encoder be in deposit record pattern 212 time, it can deposit at least one transducing signal of record, such as, to complete picture identification and as with reference to data, processing unit 105 stores the reference data corresponding at least one reference position according to transducing signal; When optical encoder is in contrastive pattern 214, it can to conversation structure recognition result and described reference data, to judge whether optical encoder is positioned at the position corresponding to reference data, such as above-mentioned origin position or multiple reference point locations one of them, such as processing unit 105 according to transducing signal produce treat contrast images data and contrast treat that contrast images data and reference data are to determine current location.
Be described to produce circular relative motion between optical encoder 100 and sensing surface 107 below; And the embodiment producing linear relative motion between optical encoder 100 and sensing surface 107 is similar, such as, can one end of linear areas or central authorities be initial point.
Fig. 2 b explains a kind of embodiment depositing record pattern further, the embodiment rotated around sensing surface 107 for optical encoder 100.When optical encoder 100 be in deposit record pattern time, it can first rotate to obtain the image of sensing surface 107 around sensing surface 107 and calculate motion-vector or displacement in step 222, until it gets back to homeposition again, such as processing unit 105 calculates the difference of the reference data of homeposition and the reference data of each image follow-up, representing and getting back to homeposition appears in image once again corresponding when described difference is minimum, and regard as opereating specification by repeating the scope sensed between described homeposition, wherein said homeposition is the corresponding position of described smooth sensing unit 103 sensing first reference data.Then in step 224, optical encoder can be rotated further, with according to motion-vector or displacement, sensing surface district (such as described opereating specification) is divided into multiple reference position (comprising origin position and at least one reference point locations), and deposit record transducing signal as reference data at preposition.Such as according to the motion-vector revolved when turning around or displacement, sensing surface 107 can on average be divided into multiple position, then deposit record transducing signal at optical encoder through each position, just can be used as the reference data of each reference position.Furthermore, in Fig. 2 b, first utilization repeats to recognize identical homeposition and decides opereating specification, then utilizes motion-vector or displacement to carry out equalization or unequal division to described opereating specification.
Motion-vector or displacement is utilized to be as the object dividing benchmark, in the process of reference data setting up origin position or multiple reference point locations, optical encoder 100 may not move at the uniform velocity with the relative motion of sensing surface 107, in order to the opereating specification on sensing surface 107 evenly can be divided, motion-vector or displacement therefore can be utilized as partitioning standards.In another embodiment, when the relative motion of optical encoder 100 and sensing surface 107 is for move at the uniform velocity (such as utilizing Electric automatic control), then also can utilizes and revolve rotation time when turning around or the impartial or unequal division sensing surface 107 of rotational angle.In other words, opereating specification divides in order to utilize motion-vector, displacement, the anglec of rotation or rotational time by Fig. 2 b, and stores corresponding reference data corresponding to each reference position.Deposit record pattern to select voluntarily before optical encoder 100 dispatches from the factory, by user or be judged voluntarily to need to perform, to store the reference data corresponding to described origin position and each reference point locations when upgrading reference data by system.
Fig. 2 c explains the embodiment of a kind of contrastive pattern further, please also refer to the step of Fig. 2 b.In the step 224 of Fig. 2 b, optical encoder has produced the reference data of multiple position (comprising origin position and reference point locations).And when optical encoder 100 is in contrastive pattern, it rotates around sensing surface 107, in step 232, optical encoder 100 can obtain the image of sensing surface 107 when rotating, and complete picture process, such as complete picture process with image filtering mode and quantification manner, contrast images data are treated to obtain, scrutablely be, formed and treat that better the coexisting mutually of the process of contrast images data forms the process of reference data, such as aforesaid calculating pixel gray level difference or mean value etc., contrast in order to follow-up.Then in step 234, optical encoder 100 can will treat that contrast images data and described reference data contrast, and obtains best comparing result.For example, comparing result and at least one threshold value can be compared, and obtain the comparing result that quantizes, will wherein to exceed or the low comparing result high or minimum in described threshold value is considered as best comparing result using as current location; Such as, in an embodiment, can will treat contrast images data and multiple reference data calculated difference respectively, and judge to treat whether the difference of contrast images data and described reference data is less than threshold value; Wherein, such as can calculate and treat the GTG difference of contrast images data and described reference data or the difference of average gray-scale value.Last in step 236, according to described best comparing result, judge the current location of optical encoder 100 corresponding to reference data and output signal.In the middle of other embodiments, comparing result also produces by other modes, and first can contrast and be shown as correct reference data and be judged to be best comparing result by such as optical encoder.And aforesaid threshold values also can be predetermined threshold value, or carry out dynamically (adaptive) adjustment along with System Operation.
Fig. 2 d explains the embodiment of a kind of contrastive pattern of power saving further, according to previous comparing result, reduces the reference data scope of contrast, to reach effect of power saving.In step 242, utilize optical encoder 100 to take the image of sensing surface 107, and complete picture process with produce treat contrast images data.In step 243, first optical encoder 100 judges whether the foundation of a front comparing result as subsequent contrast.If there is a front comparing result, then within the scope of the reference data representated by a front comparing result, obtain the reference data in one section of preset range; And in step 244, the reference data treated in the described preset range of contrast images data and a front comparing result is contrasted, and comparing result and at least one threshold value are compared, if such as a front comparing result is a certain angle, then only contrast the part reference data within the scope of described approximate angle predetermined angle.This method by the environs of the limit of contrast at a front comparing result, and need not can contrast with all reference datas, can lower operand, reach power saving and the benefit of saving the reduced time simultaneously.Aforesaid preset range can viewing system demand adjust, and to obtain comparing result fast, can reduce preset range, vice versa.Then in step 248, output signal according to comparing result.If there is not a front comparing result, then will treat that contrast images data and all described reference datas contrast in step 246, and comparing result and at least one threshold value are compared and obtains best comparing result, the step 234 disclosed by similar Fig. 2 c.
Fig. 2 e explains the embodiment of the contrastive pattern of a kind of anti-contamination and raising stability further, according to previous comparing result, determines whether the reference data scope upgraded at least partially, to reach effect of anti-contamination and raising stability.After lasting use a period of time, hardware may damage, and sensing surface 107 also may have contamination, therefore can form interference optical encoder being obtained to image, and the means by upgrading reference data reach anti-contamination and the effect improving stability.When contamination is formed in sensing surface 107, can stain and be considered as the part of sensing surface 107 feature, the different and difference to some extent with position, and when contamination is formed on optical encoder 100, a kind of fixing interference can be become, and each image is all made a difference.Aforementioned two kinds of interference can upgrade reference data scope to eliminate whereby.In step 252, utilize optical encoder 100 to take the image of sensing surface 107, and complete picture process with produce treat contrast images data.In step 261, first optical encoder 100 judges whether to need to upgrade reference data (after being illustrated in).If desired upgrade reference data, then upgrade in step 262 at least part reference data after, continue perform step 252.If need not upgrade reference data, then in step 253, first optical encoder judges whether the foundation of a front comparing result as subsequent contrast.If there is a front comparing result, then within the scope of the reference data representated by a front comparing result, obtain the reference data in one section of preset range; And in step 254 the reference data treated in the described preset range of contrast images data and a front comparing result is contrasted, and comparing result and at least one threshold value are compared.Then in step 258, export control signal according to comparing result, and determine whether upgrade part reference data, then can continue to perform step 252.If there is not a front comparing result, then will treat that contrast images data and all described reference datas contrast in the step 256, and comparing result and at least one threshold value are compared and obtains best comparing result, the step 234 disclosed by similar Fig. 2 c.
In one embodiment, when comparing result all cannot meet the condition that threshold value limits, such as treat that the difference of contrast images data and described reference data is greater than or less than threshold value all the time, may represent that the steady noise amount in obtained image has been enough to affect result of determination, therefore can be considered a kind of condition needing to be updated to small part reference data.
Please also refer to Fig. 3 a and Fig. 3 b, wherein Fig. 3 a is the upper schematic diagram that the present invention is applied in the markd sensitive face 302a of not tool, and Fig. 3 b is the upper schematic diagram that the present invention is applied in the markd sensitive face 302b of tool.In the middle of Fig. 3 a, optical encoder is applied to knob and controls, optical encoder 300 can relatively rotate for sensitive face 302a, such as can one of them be combined with the rotating mechanism of knob by optical encoder 300 or sensitive face 302a two elements, another one element then keeps motionless relatively; Thus, when knob rotates, just can produce relative rotation between two elements.
As shown in Figure 3 a, the surface characteristics on optical encoder 300 direct-detection sensitive face 302a and produce picture recognition result.Generally speaking, how much the surface that various material is formed all the different lines such as rises and falls with height, therefore, when on optical encoder 300 emission of light to sensitive face 302a time, the reflected light that sensitive face 302a causes will produce according to the feature on material surface the texture that light and shade differ.These textures are different along with position change, and generally speaking, texture can't repeat, therefore the diverse location of sensitive face 302a, different textures can be detected, in order to avoid the surperficial sensed image of close texture produces erroneous judgement, also can carry out detecting and screening depositing in record pattern.Depositing in record pattern, when optical encoder 300 is positioned at initial point (being such as now denoted as 0 degree) or ad-hoc location (being such as now denoted as 45 degree, 90 degree, 135 degree, 180 degree, 225 degree, 270 degree or 315 degree) of knob definition, picture result now can be noted down down when compare reference value (i.e. above-mentioned reference data), using as subsequent optical scrambler 300 again swept described position time contrast foundation.Scrutable, now ad-hoc location can utilize above-mentioned motion-vector, shift position, rotation time or rotational angle to define.
The difference of Fig. 3 b and Fig. 3 a, is that the sensitive face 302b in Fig. 3 b has simple marking, as sensitive face 302b has mark 304a, represents ad-hoc location or the angle of knob, such as initial point.Depositing in record pattern, when optical encoder 300 first time senses the light from mark 304a reflection and produces transducing signal, picture result can saved as reference data.Then in contrastive pattern, whenever optical encoder 300 swept mark 304a, its light sensing unit 103 sensing can produce transducing signal from the light marking 304a reflection, and post-processing unit 105 can produce picture result according to transducing signal, because picture result comprises the feature of mark 304a, this picture result just can export by optical encoder 300, after contrasting with reference data, can be applicable to and judges that knob goes to origin position.
Similarly, also signable multiple mark on sensitive face 302b, such as, mark 304b, 304c, etc., represent diverse location or the angle of knob respectively.In contrastive pattern, when optical encoder 300 these marks swept, the picture recognition result that processing unit 105 produces just can comprise the feature of each described mark, can judge the current residing position of knob or angle by this.These positions or angle just can be used on different control, and such as different positions represents different volumes, different adjusting range etc.Scrutable, the number of the reference position in Fig. 3 a and 3b and position can be decided according to required angular resolution, be not limited to the present invention and the number and position that disclose are described.
Fig. 4 illustrates another embodiment of the present invention, and the embodiment of itself and Fig. 1 does not exist together, and is that the present embodiment also comprises storage unit 109, in order to note down at least one picture result (also i.e. reference data), using the foundation as next code.
Fig. 5 illustrates signal contrast result oscillogram when the present invention is applied in the markd sensitive face of not tool (such as 302a), please also refer to Fig. 3 a.The transverse axis of Fig. 5 can represent the angle of knob rotation, the longitudinal axis represents the picture recognition result that optical encoder 300 produces, this result can the numerical value of various parameter represent, such as treat difference value summation (the sum of absolute difference of contrast images data and reference data, SAD), when difference value summation is larger, the recognition result of picture instantly represented detected by optical encoder 300 is large with the difference of contrast reference value, and namely optical encoder 300 is not positioned at the ad-hoc location that will judge yet.In the middle of the example that Fig. 5 illustrates, the hypothesis on location that sensitive face upper angle is 20 degree is need to utilize optical encoder 300 to carry out the ad-hoc location alignd, optical encoder 300 represents the position shooting picture (image) of knob rotation to 20 degree on sensitive face, and reference value as a comparison that the record of its picture recognition result is got up, also namely perform and deposit record pattern.And in follow-up contrastive pattern, when optical encoder 300 again the position of swept 20 degree time, the difference value can seeing the longitudinal axis reduces all significantly, this represents the recognition result of picture instantly detected by optical encoder 300, almost there is no difference with contrast reference value, also namely optical encoder 300 once more relative displacement to the position of 20 degree.The applicable application obtaining multiple contrast reference value of the similar practice.In one embodiment, difference value summation and recognition threshold TH1 can be compared, when difference value summation is less than described recognition threshold TH1, then can judge that the anglec of rotation is positioned at 20 degree.In addition, the reference data corresponding to other angles is not stored in optical encoder 300 in the present embodiment, when being positioned at other angles, because difference value summation is all greater than described recognition threshold TH1, therefore optical encoder 300 can will treat that the angle that the difference value of contrast images data and reference data exceedes described recognition threshold TH1 is all defined as unidentified angle or position, corresponds to described unidentified angle or position does not then produce any corresponding control signal.
In addition, as previously mentioned, when optical encoder 300 is all greater than described recognition threshold TH1 in the difference value summation that all angles are corresponding, also the difference value treating contrast images data and reference data namely corresponding to described current location also exceedes described recognition threshold TH1, then express possibility and need to upgrade at least a part of reference data (as shown in Figure 2 e), the now renewable reference data stored of optical encoder 300.In another embodiment, when steady noise increases, the corresponding difference value summation of major part angle may decline, therefore update condition also can be set as when the difference value summation that a part of angle is corresponding is less than renewal threshold value TH2, also the part namely beyond described current location treats that the difference value of contrast images data and reference data is less than described renewal threshold value TH2, the renewable at least one part reference data stored of optical encoder 300; Wherein, the angle or the number of positions that are less than the difference value of described renewal threshold value TH2 then can determine according to the tolerance of system.
In addition, when optical encoder 300 only can rotate with fixed angle step (angle step) at every turn, error accumulation may be produced towards during same sense of rotation ongoing operation, such as, difference value summation when Fig. 5 shows ongoing operation lower angle 20 degree becomes large gradually, and therefore in contrastive pattern, the better alternate position spike treating contrast images data and reference data that also calculates of processing unit 105 also corrects cumulative errors whereby.Such as, the best can be calculated until the alternate position spike of contrast images (such as 20 degree time) with reference data, and the progression alternate position spike of described alternate position spike under recording ongoing operation, and when described progression alternate position spike exceedes described fixed angle step, the correction of a step can be carried out for optical encoder.
Fig. 6 illustrates the signal detecting result oscillogram of (such as 302b) when the present invention is applied in tool markd sensitive face, please also refer to Fig. 3 b, the transverse axis of Fig. 6 can represent the angle of knob rotation, and the longitudinal axis represents the picture result that optical encoder 300 produces.When being applied to the markd sensitive face of tool (such as 302b), picture result can the numerical value of various parameter represent, as average brightness value, the material characteristic of collocation mark, mark can be set to that there is specific reflecting brightness numerical value, when average brightness value less or larger (such as Fig. 6 is shown as less), the picture instantly represented detected by optical encoder 300 identifies has mark, and also namely optical encoder 300 is positioned at the ad-hoc location that will judge.In like manner, Fig. 6 also can preset recognition threshold TH1 and/or upgrade threshold value TH2, also as recognizing site (angle) and the benchmark upgrading reference data.
When applying of the present invention, optical encoder more can comprise storage unit, in order to the relevant information of stored picture data and/or picture result and each ad-hoc location.In addition, optical encoder also can comprise wired or wireless communication interface, so as with other hardware related transmitting information, such as accept the control signal of main frame and start, or sending comparing result to other hardware.Such as, reference data can be stored in or beyond optical encoder in portion's main frame.When reference data is stored in optical encoder, optical encoder directly judges position or angle and outputs control signals to controlled device or main frame.When reference data is stored in optical encoder external host, optical encoder can only to main frame, and carry out position or angle by main frame and judges by outputting encoded data (namely treating contrast images data).
In order to be applied in the speed of related movement occasion faster of the present invention and sensitive face, preferably, picture update rate of the present invention can reach more than 1000 frames per second.The present invention simultaneously also can be different with the material of sensitive face, set different luminous powers or glow frequency, or according to the bright dark parameter of picture that light sensing unit senses, adjust luminous power or glow frequency adaptively.
When applying of the present invention, described smooth sensing unit can be the light sensor array that multiple sensing pixels forms, the square light sensor array that the such as length of side forms for 30 pixels, or has the light sensor array etc. of rectangle of the different length of side.And the physical size of light sensor array, then determined by the quantity of pixel and the physical size of each pixel, can adjust the requirement at resolution with system.
In the middle of other embodiment, light sensor array also can be enabled or closed portion sensing pixels along with the demand of system, such as, in the light sensor array formed for 36 pixels in the length of side, whole sensing pixels can be used, also the sensing pixels of wherein part can be opened, such as only open the subarray that the length of side forms for 18 pixels, or just open a sensing pixels at interval of at least one sensing pixels.Thus, although can the reducing by sensing scope of light sensor array, or sensing resolution reduces, and can reach the effect of power saving.
Should be noted that, although be described for reflective optical encoder in above-described embodiment, also namely luminescence unit and light sensing unit are positioned at the same side of sensing surface.In other embodiments, when sensing surface be printing opacity or semi-transparent material time, also penetration optical encoder can be embodied as, also namely luminescence unit and light sensing unit are positioned at the not homonymy of sensing surface, except luminescence unit and light sensing unit arrange different except, its function mode is identical with the various embodiments described above, therefore does not repeat them here.
Although the present invention is disclosed by previous embodiment, it is also not used to limit the present invention, and any technician in the technical field of the invention with usual knowledge, without departing from the spirit and scope of the present invention, when doing various changes and amendment.Therefore the scope that protection scope of the present invention ought define depending on accompanying claim is as the criterion.
Claims (20)
1. an optical encoder, described optical encoder comprises:
Luminescence unit, in order to by light emission to sensing surface;
Light sensing unit, the light reflected from described sensing surface in order to sensing is to produce transducing signal; And
Processing unit, in order to deposit the reference data corresponding at least one reference position in record pattern according to described transducing signal storage, producing according to described transducing signal in contrastive pattern and treating contrast images data and treat that contrast images data and described reference data are to determine current location described in contrast.
2. optical encoder according to claim 1, wherein said deposit processing unit described in record pattern in order to by duplicate detection to homeposition between opereating specification divide at least one reference position described, wherein said homeposition is the corresponding position of described smooth sensing unit sensing first reference data.
3. optical encoder according to claim 1, stores the multiple reference datas corresponding to multiple reference position in wherein said processing unit, in described contrastive pattern,
When described processing unit judges to there is a front comparing result, the reference data in the described preset range treating contrast images data and a described front comparing result is contrasted; And
When described processing unit judges there is not a front comparing result, treat that contrast images data and all described reference datas contrast by described.
4. optical encoder according to claim 1, processing unit described in wherein said contrastive pattern is also in order to judge whether to need to upgrade reference data.
5. optical encoder according to claim 4, wherein when correspond to described in described current location until contrast images data and the difference value of described reference data exceed recognition threshold or correspond to described in the part beyond described current location until the difference value of contrast images data and described reference data be less than upgrade threshold value time, at least a part of described reference data of described processing unit renewal.
6. optical encoder according to claim 4, stores the multiple reference datas corresponding to multiple reference position in wherein said processing unit,
When described processing unit judges to there is a front comparing result, the reference data in the described preset range treating contrast images data and a described front comparing result is contrasted; And
When described processing unit judges there is not a front comparing result, treat that contrast images data and all described reference datas contrast by described.
7. optical encoder according to claim 1, processing unit described in wherein said contrastive pattern also treats that the alternate position spike of contrast images data and described reference data also corrects cumulative errors whereby described in calculating.
8. optical encoder according to claim 1, processing unit described in wherein said contrastive pattern is in order to treat GTG difference or the average gray-scale value of contrast images data and described reference data described in contrasting.
9. optical encoder according to claim 1, processing unit described in wherein said contrastive pattern is also in order to being unidentified position by the described location recognition treating that the difference value of contrast images data and described reference data exceedes recognition threshold.
10. a How It Works for optical encoder, described optical encoder comprises light in order to sensing self-sensing surface reflection to produce the optical sensor of transducing signal and the processing unit in order to process described transducing signal, and described How It Works comprises:
Enter and deposit record pattern, described in deposit processing unit described in record pattern and store the reference data corresponding at least one reference position according to described transducing signal; And
Enter contrastive pattern, processing unit described in described contrastive pattern produces according to described transducing signal and treats contrast images data and treat that contrast images data and described reference data are to determine current location described in contrast.
11. How It Works according to claim 10, wherein said record pattern of depositing also comprises:
Rotate around described sensing surface to obtain the image of described sensing surface and to calculate motion-vector or displacement; And
According to described motion-vector or described displacement, described sensing surface is divided into multiple reference position.
12. How It Works according to claim 11, wherein said contrastive pattern also comprises:
Rotate with the image obtaining described sensing surface around described sensing surface and treat contrast images data described in producing;
Treat that contrast images data and described reference data carry out contrasting and try to achieve best comparing result using as described current location by described; And
Control signal is exported according to described best comparing result.
13. How It Works according to claim 12, wherein said contrastive pattern also comprises:
When judging to there is a front comparing result, the reference data in the described preset range treating contrast images data and a described front comparing result is contrasted; And
When judging there is not a front comparing result, treat that contrast images data and all described reference datas contrast by described.
14. How It Works according to claim 12, wherein said contrastive pattern also comprises:
When correspond to described in described current location until contrast images data and the difference value of described reference data exceed recognition threshold or corresponding to the difference value until contrast images data and described reference data described in the part beyond described current location be less than upgrade threshold value time, upgrade at least a part of described reference data.
15. How It Works according to claim 14, wherein said contrastive pattern also comprises:
When judging to there is a front comparing result, the reference data in the described preset range treating contrast images data and a described front comparing result is contrasted; And
When judging there is not a front comparing result, treat that contrast images data and all described reference datas contrast by described.
16. How It Works according to claim 10, wherein said contrastive pattern also comprises:
Treat the alternate position spike of contrast images data and described reference data described in calculating and correct cumulative errors whereby.
17. How It Works according to claim 10, wherein said contrastive pattern also comprises:
Be unidentified position by the described location recognition treating that the difference value of contrast images data and described reference data exceedes recognition threshold.
18. 1 kinds of optical encoders, this optical encoder comprises:
Luminescence unit, in order to by light emission to sensing surface;
Light sensing unit, the light reflected from described sensing surface in order to sensing is to produce image; And
According to described image, processing unit, in order to judge that the homeposition repeating to sense is to determine opereating specification and to store the reference data corresponding to origin position and at least one reference position in described opereating specification depositing in record pattern.
19. optical encoders according to claim 18, wherein said processing unit also produces according to described image and treats contrast images data and treat that contrast images data and described reference data are to determine current location described in contrast in contrastive pattern.
20. optical encoders according to claim 18, wherein said processing unit utilizes motion-vector, displacement, the anglec of rotation or rotational time to distinguish the described origin position of described opereating specification and at least one reference position described.
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