CN104897181B - 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
On a kind of optical encoder and its operation method, it can be provided and accurately encoded the present invention by identification feature
Reference data, it need not on the work surface provide highdensity special pattern, or the Reference with special marking, pass through
Detecting the feature on surface can accurately generate coded reference data.
Background technology
In known technology, with the technological means as optical encoding, it usually needs working surface is processed into one
Determine more than density being marked for light line reflection or penetrate, or be to need to arrange light source in a specific way and control it to send out
Light sequentially, to be encoded.Such as United States Patent (USP) number US8598509, is which disclosed multiple light sources and is lighted with particular order, and
Assistant is passed through lines space by light in a predetermined manner with the coding work face for being pre-designed lines space, enabling light
Sensor is detected, then testing result produces coded reference data whereby, such as position data, the translational speed of certain element in system
Data etc..
But such prior art needs first to carry out specially treated to working surface, limits the application field of such technology；
Simultaneously in order to reach the testing result of pinpoint accuracy, the treatment to working face becomes complicated, also improves using such technology
Degree of difficulty.
The content of the invention
It is an object of the invention to provide a kind of optical encoder, its have luminescence unit, light sensing unit, memory cell,
Processing unit.Wherein described luminescence unit can launch to the sensing surface for needing identification light, and light sensing unit then can be with
The light that is reflected from the surface of sensing and produce transducing signal, the processing unit is then produced according to the transducing signal
Raw picture result, in the memory unit, as the foundation of next code, the method for its picture treatment is included but not for storage
It is limited to one or more combined treatment of method such as numerical digit filtering, image intensification, edge acquisition, quantization or binaryzation.Wherein institute
Stating optical encoder can occur relative motion, and the light sensing unit with the surface, and the luminescence unit of arranging in pairs or groups can be with height
Picture update rate (frame rate) produces transducing signal.When picture update rate is higher, the present invention can be with speed relatively higher
Degree is detected.
The present invention also provides a kind of optical encoder, comprising luminescence unit, light sensing unit and processing unit.The hair
Light unit is used to launch light to sensing surface.The light sensing unit is used to light of the sensory reflex from the sensing surface
To produce transducing signal.The processing unit is used in record pattern is deposited correspond at least one according to transducing signal storage
The reference data of reference position, produces according to the transducing signal in contrastive pattern and treats to be treated described in contrast images data and contrast
Contrast images data and the reference data are determining current location.
The present invention also provides a kind of operation method of optical encoder.The optical encoder is included to sensory reflex certainly
Processing unit of the light of sensing surface to produce the optical pickocff of transducing signal and be used to process the transducing signal.Institute
Operation method is stated to include：It is described to deposit processing unit described in record pattern and store right according to the transducing signal into depositing record pattern
Should be in the reference data of at least one reference position；And enter contrastive pattern, processing unit root described in the contrastive pattern
Produced according to the transducing signal and treat to treat contrast images data with the reference data to determine described in contrast images data and contrast
Current location.
The present invention also provides a kind of optical encoder, comprising luminescence unit, light sensing unit and processing unit.It is described luminous
Unit is used to launch light to sensing surface.The light sensing unit to sensory reflex from the light of the sensing surface with
Produce image.The processing unit is used in record pattern is deposited judge to repeat the homeposition for sensing with certainly according to described image
Determine opereating specification and store the reference data in the opereating specification corresponding to origin position and at least one reference position.
In one embodiment, the processing unit can be distinguished using motion-vector, displacement, the anglec of rotation or rotational time
The origin position of the opereating specification and at least one reference position.
In one embodiment, the processing unit can calculate the alternate position spike for treating contrast images data and the reference data
And accumulated error is corrected whereby.
In one embodiment, the processing unit can treat that contrast images data surpass with the difference value of the reference data by described
The location recognition for crossing recognition threshold is unidentified position.
It is that the present invention can note down an at least frame has the image of feature in memory cell, is sequeled for after up to object defined above
Reference frame during code, when particularly for position correction function, can exactly set origin position or user can be according to
Reference point locations are arbitrarily set according to demand.The image with feature, can put on mark for sensing in sensing surface whereby
Unit is detected, or sensing unit detects surface characteristics to produce whereby.
Optical encoder of the invention can store image, described image after an at least frame has the image of feature or processes
Ad-hoc location can be represented, consequently, it is possible to when optical encoder photographs described image again, just can be returned by algorithm
Position difference between image twice, so that the system comprising optical encoder is used.System can whereby to where its hardware
Position is finely adjusted calibration, to maintain good accuracy.
When sensing surface using mark detect for sensing unit when, the feature that the mark is included, its size with spy
Position is levied, it is necessary to coordinate the position set by sensing unit size, resolution and the optical encoder of optical encoder
And set.In general, the size of sensing unit needs that the picture formed after the feature reflection light of mark, and sensing can be covered
The resolution of unit needs the feature in energy discrimination screen.
Brief description of the drawings
Fig. 1 describes one embodiment of the invention；
The schematic diagram of the image acquired in the light sensing unit of Fig. 1 a depictions 1.
Fig. 2 a-2e describe flow chart of the invention；
Fig. 3 a and 3b describe the present invention and apply in the sensitive face without mark and with a small amount of sensitive face for marking
Upper schematic diagram；
Fig. 4 describes another embodiment of the present invention；
Fig. 5 describes the signal output waveform figure applied in the sensitive face without mark of the invention；
Fig. 6 describes the signal output waveform figure applied when having markd sensitive face of the invention.
Description of reference numerals
100,300 optical encoders
101 luminescence units
103 light sensing units
105 processing units
107 sensing surfaces
109 memory cell
302a, 302b sensitive face
304a, 304b, 304c are marked
TH1 recognition thresholds
TH2 updates threshold value
F images
Specific embodiment
Following description includes several embodiments of the present invention, the schematic diagram comprising user's operation, to understand this
How invention is applied in practical operation situation.It is noted that in figures below, the part unrelated with the technology of the present invention has been saved
Slightly, while to highlight the relation between element, the ratio between ratio and real element in schema between each element is not
It is certain identical.
Fig. 1 illustrates one embodiment of the invention.Optical encoder 100 have luminescence unit 101, light sensing unit 103 with
And processing unit 105.Luminescence unit 101 is used to launch light to sensing surface 107, and light sensing unit 103 can then be passed
The light that is reflected from sensing surface 107 of sense and produce transducing signal.Processing unit 105 can process transducing signal and produce picture
Recognition result, the picture result can be stored in such as built-in memory body of processing unit 105, or by passing
Defeated interface is stored in the hardware beyond optical encoder, and access is used during for subsequent control, contrast.
Fig. 1 a that refer to, the schematic diagram of the image F acquired in its display light sensing unit 103, it includes 9 pixels
P1-P9, but the number of pixels is only used to illustrate, is not limited to the present invention.In one embodiment, processing unit 105 can root
The GTG difference of adjacent pixel is calculated according to image F.For example, processing unit 105 by each pixel gray level value in image F with it is all with
The difference of its adjacent pixel grey decision-making is counted compared with difference threshold when the difference exceedes (being more than or equal to) described difference threshold
Numerical value adds 1 and count value plus 0 or maintains the count value when the difference is less than the difference threshold, for example, 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 pixel P2
GTG difference and compared with difference threshold, the rest may be inferred.Whereby, processing unit 105 can be tried to achieve corresponding to each pixel P1-
The count value of P9 is simultaneously stored in numerical digit mode.In another embodiment, processing unit 105 can calculate the GTG between two sets of pixels
Difference, such as pixel P1 are added up with the grey decision-making of pixel P9, the grey decision-making of pixel P3 and pixel P7 is added up, and when this two groups of GTGs
The totalling value difference value of difference be expressed as 0 more than difference threshold and work as GTG difference less than the difference threshold be expressed as 1 and by its
Stored.In other embodiment, the average ash of each pixel gray level value and all pixel gray level values adjacent thereto can be also stored
Rank value simultaneously in numerical digit mode store etc..Access is used when above-mentioned stored data are with for subsequent control, contrast
Reference data.It will be appreciated that the reference data of a stored image be not limited to the present invention explanation in it is described
Data, as long as characteristics of image can be highlighted.
It is worth noting that, in response to optical facilities design, light sensing unit 103 can be in many ways with luminescence unit 101
Furnish, for example the two can be furnished in symmetric reflective face normal mode, light sensing unit 103 is come spontaneous with symmetry angle receiving
The reflection light (being for example referred to as bright field configuration) of light unit 101；Or light sensing unit 103 can be furnished in luminescence unit 101
The top of sensing surface 107 of irradiation, to receive the light (such as being referred to as details in a play not acted out on stage, but told through dialogues to configure) of the scattering of sensing surface 107.And optics is compiled
Code device 100 can occur relative motion with sensing surface 107.Sensing surface 107 can be applied to multiple technologies field, for example but not limit
In knob control, comprising the various instrument knob such as volume knob, humiture knob, or Linear Control, comprising printer spray
The applications such as head position control, audio-visual read head position control, the control of Back mirror knob, angle of back-rest control.These application fields
Feature to need accurate definition origin position or multiple reference point locations.In optical encoder 100, corresponding to the origin
Position and each reference point locations store the result of image, as the reference data of the position.
Fig. 2 a, 2b, 2c, 2d and 2e illustrate the flow chart of operation method during using the present invention.Fig. 2 a are represented and are applied this hair
When bright, enter first optical encoder and deposit record pattern (registration mode) 212, could then enter contrastive pattern
(comparison mode)214.When optical encoder is in deposits record pattern 212, it can deposit at least one transducing signal of record,
Recognize and that as reference data such as processing unit 105 corresponds at least one ginseng according to transducing signal storage to complete picture
Examine the reference data of position；When optical encoder is in contrastive pattern 214, it can be to conversation structure recognition result and the reference
Data, to judge whether optical encoder is located at the position corresponding to reference data, such as above-mentioned origin position or multiple ginsengs
One of examination point position, such as processing unit 105 produce according to transducing signal treats contrast images data and contrasts to treat comparison diagram
As data and reference data are determining current location.
Illustrated as a example by circular relative motion is produced between optical encoder 100 and sensing surface 107 below；And optics
Produce the implementation method of linear relative motion similar between encoder 100 and sensing surface 107, for example can be with one end of linear areas
Or center is origin.
Fig. 2 b are explained further a kind of implementation method for depositing record pattern, with optical encoder 100 around 107 turns of sensing surface
As a example by dynamic implementation method.When optical encoder 100 is in deposits record pattern, it in step 222 can first around sensing surface
107 rotate to obtain the image of sensing surface 107 and calculate motion-vector or displacement, until it is returned to homeposition
Untill, such as processing unit 105 calculates the reference data of homeposition and the difference of the reference data of follow-up each image, described
There is i.e. expression and is returned to homeposition once again in difference image corresponding when minimum, and will repeat to sense the homeposition
Between scope be regarded as opereating specification, wherein the homeposition be the light sensing unit 103 sense first reference data phase
Corresponding position.Then in step 224, optical encoder may proceed to rotate, according to motion-vector or displacement, will pass
Sense surface district (such as described opereating specification) divide into multiple reference positions (including origin position and at least one reference point position
Put), and record transducing signal is deposited as reference data in predetermined position.Such as motion-vector or shifting when can be turned around according to rotation
Dynamic distance, multiple positions are averagely divided into by sensing surface 107, and record sensing is then deposited when optical encoder is by each position
Signal, just can be used as the reference data of each reference position.Furthermore, in Fig. 2 b, identical is recognized first with repetition
Homeposition determines opereating specification, the opereating specification is carried out followed by motion-vector or displacement impartial or non-
Equalization is divided.
It is to set up origin position or multiple ginsengs as the purpose of division benchmark by the use of motion-vector or displacement
During the reference data of examination point position, optical encoder 100 not constant speed may be transported with the relative motion of sensing surface 107
It is dynamic, in order to the opereating specification being evenly dividing on sensing surface 107, therefore using motion-vector or displacement as drawing
Divide foundation.In another embodiment, (such as profit when the relative motion of optical encoder 100 and sensing surface 107 is for movement at the uniform velocity
With Electric automatic control), then rotation time or rotational angle when can also be turned around using rotation are passed come impartial or unequal division
Sense surface 107.In other words, Fig. 2 b are used to utilize motion-vector, displacement, the anglec of rotation or rotational time by opereating specification
Divided, and corresponding reference data is stored corresponding to each reference position.Depositing record pattern can go out in optical encoder 100
Voluntarily selected before factory, by user or performed when voluntarily judging to need to update reference data by system, to store corresponding to described
The reference data of origin position and each reference point locations.
Fig. 2 c are explained further a kind of implementation method of contrastive pattern, the step of please also refer to Fig. 2 b.In the step of Fig. 2 b
In rapid 224, optical encoder has produced the reference data of multiple positions (including origin position and reference point locations).And work as optics
When encoder 100 is in contrastive pattern, its circular sensing surface 107 is rotated, and in step 232, optical encoder 100 can turn
The image of sensing surface 107 is obtained when dynamic, and completes picture treatment, for example, picture is completed with image filtering mode and quantification manner
Face is processed, and contrast images data are treated to obtain, it will be understood that, formation treats that the treatment of contrast images data is preferably identical in shape
Into the treatment of reference data, example calculates pixel gray level difference or average value etc. as the aforementioned, is contrasted subsequently with profit.Then
In step 234, optical encoder 100 can will treat that contrast images data are contrasted with the reference data, and obtain optimal
Comparing result.For example, comparing result can be compared with least one threshold value, and obtains the contrast knot for quantizing
Really, will wherein exceed or low be considered as optimal comparing result as present bit in the threshold value highest or minimum comparing result
Put；For example in an embodiment, contrast images data and multiple reference data difference calculating differences can will be treated, and comparison diagram is treated in judgement
As whether data are less than threshold value with the difference of the reference data；Wherein, can for example calculate treats contrast images data with the ginseng
Examine the GTG difference of data or the difference of average gray-scale value.Finally in step 236, according to the optimal comparing result, judge
Optical encoder 100 is in the current location corresponding to reference data and output signal.In the middle of other embodiment, comparing result
Can be provided in other ways, first can be contrasted and be shown as correct reference data and be judged to most by such as optical encoder
Good comparing result.And aforesaid threshold values are alternatively predetermined threshold value, or enter Mobile state (adaptive) adjustment with System Operation.
Fig. 2 d are explained further a kind of implementation method of the contrastive pattern of power saving, according to previous comparing result, reduce
The reference data scope of contrast, to reach effect of power saving.In step 242, sensing surface is shot using optical encoder 100
107 image, and complete picture treatment and treat contrast images data producing.In step 243, optical encoder 100 is sentenced first
It is disconnected whether to have foundation of the preceding comparing result as subsequent contrast.If an existing preceding comparing result, preceding once right
In the range of the reference data representated by result, the reference data in one section of preset range is obtained；And will treat right in step 244
The reference data in the preset range than view data with a preceding comparing result is contrasted, and by comparing result and extremely
A few threshold value is compared, if a for example preceding comparing result is a certain angle, only contrasts the approximate angle preset angle
Part reference data in the range of degree.The scope of contrast can be confined to this method the neighbouring model of a preceding comparing result
Enclose, and need not be contrasted with all of reference data, operand can be lowered, while reaching power saving and saving the reduced time
Benefit.Foregoing preset range can be adjusted with viewing system demand, and comparing result is obtained to quick, can reduce default model
Enclose, vice versa.Then in step 248, according to comparing result output signal.If not existing a preceding comparing result,
To treat that contrast images data are contrasted with all of reference data in step 246, and by comparing result and at least one
Threshold value is compared and obtains optimal comparing result, is similar to the step 234 disclosed by Fig. 2 c.
Fig. 2 e are explained further a kind of dirt-resistant and improve the implementation method of the contrastive pattern of stability, according to previous
Comparing result decides whether to update at least one of reference data scope, with the work(for reaching dirt-resistant and improving stability
Effect.After lasting use for a period of time, hardware may be damaged, and sensing surface 107 has been likely to contamination, therefore can shape
Paired optical encoder obtains the interference of image, and dirt-resistant can be reached by updating the means of reference data and stability is improved
Effect.When contamination is formed in sensing surface 107, the part for being considered as the feature of sensing surface 107 can will be stain, with position not
With and difference, and when contamination is formed on optical encoder 100, a kind of interference of fixation can be turned into, and to each figure
As all making a difference.Foregoing two kinds of interference can update reference data scope to eliminate whereby.In step 252, using light
Learn encoder 100 and shoot the image of sensing surface 107, and complete picture treatment and treat contrast images data to produce.In step 261
In, optical encoder 100 is it is first determined whether need to update reference data (after being illustrated in).If desired reference number is updated
According to after then updating at least part reference data in step 262, continuing executing with step 252.If reference data need not be updated,
Then in step 253, optical encoder is it is first determined whether there is foundation of the preceding comparing result as subsequent contrast.If having deposited
In a preceding comparing result, then in the range of the reference data representated by a preceding comparing result, obtain in one section of preset range
Reference data；And the ginseng in contrast images data and the preset range of a preceding comparing result will be treated in step 254
Examine data to be contrasted, and comparing result is compared with an at least threshold value.Then in step 258, according to comparing result
Output control signal, and decide whether to update part reference data, can then continue executing with step 252.If in the absence of it is preceding once
Comparing result, then will treat that contrast images data are contrasted with all of reference data in the step 256, and contrast is tied
Fruit is compared with an at least threshold value and obtains optimal comparing result, is similar to the step 234 disclosed by Fig. 2 c.
In one embodiment, when comparing result cannot meet the condition that threshold value is limited, for example, contrast images data are treated
It is consistently greater than with the difference of the reference data or less than threshold value, may represents that the steady noise amount in acquired image is sufficient
To influence result of determination, therefore can be considered to need to update a kind of condition of at least part of reference data.
Please also refer to Fig. 3 a and Fig. 3 b, wherein Fig. 3 a are that the present invention is applied in the upper of the sensitive face 302a without mark
Depending on schematic diagram, Fig. 3 b are that the present invention is applied in the upper schematic diagram for having markd sensitive face 302b.In the middle of Fig. 3 a, optics is compiled
Code device is applied to knob control, and optical encoder 300 can be relatively rotated for sensitive face 302a, for example can be by light
One of two elements of encoder 300 or sensitive face 302a are learned to be combined with the rotating mechanism of knob, and another element is then
It is relative to remain stationary as；Consequently, it is possible to when knob rotates, will be produced relative rotation between two elements.
As shown in Figure 3 a, on the direct detection sensitive face 302a of optical encoder 300 surface characteristics and produce picture to recognize
As a result.In general, how much the surface that various materials are formed can all carry the different lines such as height fluctuating, therefore, work as light
When the transmitting light of encoder 300 is learned to sensitive face 302a, the reflected light caused by sensitive face 302a will be according to material
The feature on surface produces the texture that light and shade differs.These textures are different with position change, it is however generally that, texture is not
Can repeat, thus sensitive face 302a diverse location, different textures are can detect, in order to avoid the surface of close texture
Sensed image produces erroneous judgement, also can be detected and be screened in record pattern is deposited.In record pattern is deposited, when optical encoder 300
Positioned at knob definition origin (being for example now denoted as 0 degree) or ad-hoc location (be for example now denoted as 45 degree, 90 degree, 135
Degree, 180 degree, 225 degree, 270 degree or 315 degree) when, the picture result that can be noted down down now ought compare reference value and (go up
State reference data), as subsequent optical encoder 300 again the swept position when contrasting foundation.It is scrutable
It is that now ad-hoc location can be defined using above-mentioned motion-vector, shift position, rotation time or rotational angle.
The difference of Fig. 3 b and Fig. 3 a, is that the sensitive face 302b in Fig. 3 b has simple marking, such as sensitive face 302b
It is upper that there is mark 304a, represent the ad-hoc location or angle of knob, such as origin.In record pattern is deposited, when optical encoder 300
Sense for the first time from the light of mark 304a reflections when producing transducing signal, can save as reference number by picture result
According to.Then in contrastive pattern, whenever the swept mark 304a of optical encoder 300, its light sensing unit 103 can be sensed certainly
Mark the light of 304a reflections and produce transducing signal, and post-processing unit 105 can produce picture treatment knot according to transducing signal
Really, because feature of the picture result comprising mark 304a, optical encoder 300 just can export this picture result,
After being contrasted with reference data, can be applicable to and judge that knob has turned to origin position.
Similarly, also signable multiple marks on sensitive face 302b, for example, mark 304b, 304c, etc., and rotation is represented respectively
The diverse location or angle of button.In contrastive pattern, when swept these marks of optical encoder 300, the institute of processing unit 105
The picture recognition result of generation just can include the feature of each mark, can thereby judge position or angle that knob is presently in
Degree.These positions or angle just can be used on different controls, such as different positions represents different volumes, different adjustment width
Degree etc..It will be appreciated that the number of reference position in Fig. 3 a and 3b and position can be according to required angular resolutions
To determine, however it is not limited to the disclosed number of present invention explanation and position.
Fig. 4 illustrates another embodiment of the present invention, and it does not exist together with the embodiment of Fig. 1, is that the present embodiment also includes storage
Unit 109, is used to note down at least one picture result (namely reference data), as the foundation of next code.
Fig. 5 illustrates the signal contrast result waveform applied in sensitive face (such as the 302a) without mark of the invention
Figure, please also refer to Fig. 3 a.The transverse axis of Fig. 5 can represent the angle of knob rotation, and the longitudinal axis represents the picture of the generation of optical encoder 300
Face recognition result, this result can represent with the numerical value of various parameters, for example, treat the difference of contrast images data and reference data
Value summation (sum of absolute difference, SAD), when difference value summation is bigger, represents optical encoder 300 and is examined
The recognition result of picture instantly that measures is big with the difference of contrast reference value, namely optical encoder 300 and is not located at being judged
Ad-hoc location.In the middle of the example depicted in Fig. 5, the hypothesis on location that 20 degree of sensitive face upper angle is to need to utilize optical encoding
The ad-hoc location that device 300 is alignd, optical encoder 300 represents knob on sensitive face and rotates to 20 degree of position shooting picture
Face (image), and its picture recognition result is noted down reference value as a comparison, namely record pattern is deposited in execution.And subsequent contrast
In pattern, when swept 20 degree of the position again of optical encoder 300, it is seen that the difference value of the longitudinal axis is significantly decreased,
This represents the picture recognition result instantly detected by optical encoder 300, with contrast reference value almost without difference, Ye Jiguang
Learn encoder 300 once more relative displacement to 20 degree of position.The similar practice is applicable to obtain multiple contrast reference values
Using.In one embodiment, difference value summation can be compared with recognition threshold TH1, when difference value summation is less than the identification
During threshold value TH1, then can determine that the anglec of rotation is located at 20 degree.Additionally, do not stored in optical encoder 300 in the present embodiment it is right
Should in the reference data of other angles, when positioned at other angles, because difference value summation is all higher than the recognition threshold TH1,
Therefore optical encoder 300 can will treat that contrast images data exceed the angle of the recognition threshold TH1 with the difference value of reference data
Degree is defined as unidentified angle or position, and corresponds to the unidentified angle or position and do not produce any corresponding control letter then
Number.
Additionally, as it was previously stated, when optical encoder 300 angled corresponding difference value summation be all higher than the knowledge
During other threshold value TH1, namely treat contrast images data with the difference value of reference data also above institute corresponding to the current location
State recognition threshold TH1, then it represents that may need to update at least a part of reference data (as shown in Figure 2 e), now optical encoder
300 renewable reference datas for having stored.In another embodiment, when steady noise increases, most of angle is corresponding
Difference value summation may decline, therefore update condition also may be set to be less than when the corresponding difference value summation of a part of angle
When updating threshold value TH2, namely part beyond the current location treats that contrast images data are less than with the difference value of reference data
The renewal threshold value TH2, optical encoder 300 then may be updated at least a part of reference data for having stored；Wherein, less than described
The angle or number of positions for updating the difference value of threshold value TH2 can then be determined according to the tolerance of system.
Additionally, when optical encoder 300 is only capable of being rotated with fixed angle step (angle step) every time, towards same
Error accumulation may be produced during the ongoing operation of direction of rotation, such as difference value during 20 degree of Fig. 5 display ongoing operations lower angle
Summation becomes larger, therefore processing unit 105 preferably also calculates the position for treating contrast images data and reference data in contrastive pattern
Put difference and correct accumulated error whereby.For example, the position most preferably whne contrast images (such as at 20 degree) and reference data can be calculated
Difference, and the progression alternate position spike of the alternate position spike under ongoing operation is recorded, and work as the progression alternate position spike more than the fixed angle
During step, an amendment for step can be carried out for optical encoder.
Fig. 6 illustrates the signal detecting result oscillogram that the present invention applies when having markd sensitive face (such as 302b),
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 of the generation of optical encoder 300
Result.When being applied to have markd sensitive face (such as 302b), picture result can be with the numerical value of various parameters
To represent, can be set to mark with specific reflecting brightness numerical value by such as average brightness value, the material characteristic of mark of arranging in pairs or groups,
When average brightness value is smaller or bigger (such as Fig. 6 is shown as smaller), the picture instantly detected by optical encoder 300 is represented
Identify with mark, namely optical encoder 300 is located at the ad-hoc location to be judged.Similarly, Fig. 6 can also preset knowledge
Other threshold value TH1 and/or renewal threshold value TH2, also serves as recognizing position (angle) and updates the benchmark of reference data.
In the application present invention, optical encoder can more include memory cell, at stored picture data and/or picture
The relevant information of reason result and each ad-hoc location.In addition, optical encoder can also include wired or wireless communication interface,
So as to other hardware related transmitting informations, for example receive the control signal of main frame and start, or comparing result is sent to
Other hardwares.For example, reference data can be stored in or beyond optical encoder in portion's main frame.Compiled when reference data is stored in optics
When in code device, optical encoder directly judges position or angle and outputs control signals to controlled device or main frame.Work as reference number
During according to being stored in optical encoder external host, optical encoder only can extremely be led outputting encoded data (treating contrast images data)
Machine, and position or angle judgement are carried out by main frame.
In order to apply in the present invention and the speed of related movement of sensitive face occasion faster, preferably, it is of the invention
Picture update rate up to 1000 frame per second more than.The present invention also can be different with the material of sensitive face simultaneously, set different lighting
Power or glow frequency, or according to the bright dark parameter of picture that light sensing unit is sensed, adaptively adjust luminous
Power or glow frequency.
In the application present invention, the light sensing unit can be the multiple light sensing array that is constituted of sensing pixels, for example
The square light sensing array that the length of side is made up of 30 pixels, or the rectangle with the different length of sides light sensing array etc..
And the actual size of light sensing array, then determined by the actual size of the quantity of pixel and each pixel, can with system to
The requirement of resolution and adjust.
In the middle of other embodiments, light sensing array enables or closes part sensing picture also with the demand of system
Element, such as in the light sensing array that the length of side is made up of 36 pixels, it is possible to use whole sensing pixels, it is also possible to open
The sensing pixels of its partial, for example, only open the subarray that the length of side is made up of 18 pixels, or at interval of at least one
Sensing pixels just open a sensing pixels.Thus, although light sensing array can sensing scope reduce, or sensing solution
The reduction of analysis degree, can but reach the effect of power saving.
It should be noted that, although illustrated by taking reflective optical encoder as an example in above-described embodiment, namely it is luminous
Unit is located at the same side of sensing surface with light sensing unit.In other embodiment, when sensing surface is printing opacity or semi-transparent finish
During matter, penetration optical encoder also is embodied as, namely luminescence unit is located at the not homonymy of sensing surface with light sensing unit,
In addition to luminescence unit is different from the setting of light sensing unit, its function mode is identical with the various embodiments described above, therefore herein no longer
Repeat.
Although the present invention is disclosed by previous embodiment, it is not limited to the present invention, any institute of the present invention
There is the technical staff of usual knowledge in category technical field, it is without departing from the spirit and scope of the present invention, various when that can make
Change and modification.Therefore protection scope of the present invention is worked as the scope defined depending on appended claims and is defined.
Claims (20)
1. a kind of optical encoder, for there is relative motion with sensing surface, the optical encoder is included：
Luminescence unit, is used to launch light to the sensing surface；
Light sensing unit, is used to sense the light from sensing surface reflection to produce transducing signal；And
Processing unit, is used to
Correspond to the ginseng of at least one reference position on the sensing surface according to transducing signal storage in record pattern is deposited
Data are examined, and
Produced according to the transducing signal in contrastive pattern treat contrast images data and contrast it is described treat contrast images data and
The reference data corresponds to the current location of the sensing surface to determine the optical encoder.
2. optical encoder according to claim 1, deposits processing unit described in record pattern and is used to repeat wherein described
Opereating specification between the homeposition for detecting divides at least one reference position, wherein the homeposition is described
Light sensing unit senses the corresponding position of first reference data.
3. optical encoder according to claim 1, wherein being stored in the processing unit corresponding to multiple reference bits
The multiple reference datas put, in the contrastive pattern,
When the processing unit judges to have a preceding comparing result, treat that contrast images data are preceding once right with described by described
Contrasted than the reference data in the preset range of result；And
When the processing unit is judged in the absence of a preceding comparing result, treat contrast images data with all ginsengs by described
Data are examined to be contrasted.
4. optical encoder according to claim 1, wherein processing unit described in the contrastive pattern is also used to judge
Whether need to update the reference data.
5. optical encoder according to claim 4, wherein when treating contrast images corresponding to described in the current location
Data exceed recognition threshold or are treated corresponding to described in the part beyond the current location with the difference value of the reference data
Contrast images data are less than when updating threshold value with the difference value of the reference data, and the processing unit updates at least a part of institute
State reference data.
6. optical encoder according to claim 4, wherein being stored in the processing unit corresponding to multiple reference bits
The multiple reference datas put,
When the processing unit judges to have a preceding comparing result, treat that contrast images data are preceding once right with described by described
Contrasted than the reference data in the preset range of result；And
When the processing unit is judged in the absence of a preceding comparing result, treat contrast images data with all ginsengs by described
Data are examined to be contrasted.
7. optical encoder according to claim 1, wherein processing unit described in the contrastive pattern is also used to calculate
The alternate position spike for treating contrast images data and the reference data simultaneously corrects accumulated error whereby.
8. optical encoder according to claim 1, wherein processing unit described in the contrastive pattern is used to contrast institute
State the GTG difference or average gray-scale value for treating contrast images data and the reference data.
9. optical encoder according to claim 1, wherein processing unit described in the contrastive pattern is also used to institute
State and treat that the location recognition that contrast images data exceed recognition threshold with the difference value of the reference data is unidentified position.
10. a kind of operation method of optical encoder, the optical encoder is used to relative motion occurring with sensing surface and wrap
Containing being used to sense the light from sensing surface reflection to produce the optical pickocff of transducing signal and be used to process described
The processing unit of transducing signal, the operation method is included：
It is described to deposit processing unit described in record pattern according to transducing signal storage corresponding to the sensing into record pattern is deposited
The reference data of at least one reference position on surface；And
Into contrastive pattern, processing unit described in the contrastive pattern is produced according to the transducing signal and treats contrast images data
And treat contrast images data and the reference data to determine the corresponding sensing surface of the optical encoder described in contrasting
Current location.
11. operation methods according to claim 10, wherein the record pattern of depositing also is included：
Rotate to obtain the image of the sensing surface and calculate motion-vector or displacement around the sensing surface；With
And
The sensing surface is divided into by multiple reference positions according to the motion-vector or the displacement.
12. operation methods according to claim 11, wherein the contrastive pattern also includes：
Rotated around the sensing surface and treat contrast images data described in the image to obtain the sensing surface and generation；
By it is described treat contrast images data contrasted with the reference data and tried to achieve optimal comparing result as it is described work as
Front position；And
According to the optimal comparing result output control signal.
13. operation methods according to claim 12, wherein the contrastive pattern also includes：
When judging to have a preceding comparing result, treat that contrast images data are default with a preceding comparing result by described
In the range of reference data contrasted；And
When judging in the absence of a preceding comparing result, to treat that contrast images data are carried out with all reference datas right by described
Than.
14. operation methods according to claim 12, wherein the contrastive pattern also includes：
When exceeding identification threshold corresponding to the difference value that contrast images data and the reference data are treated described in the current location
Value is small with the difference value of the reference data corresponding to contrast images data are treated described in the part beyond the current location
When threshold value is updated, at least a part of reference data is updated.
15. operation methods according to claim 14, wherein the contrastive pattern also includes：
When judging to have a preceding comparing result, treat that contrast images data are default with a preceding comparing result by described
In the range of reference data contrasted；And
When judging in the absence of a preceding comparing result, to treat that contrast images data are carried out with all reference datas right by described
Than.
16. operation methods according to claim 10, wherein the contrastive pattern also includes：
The alternate position spike of contrast images data and the reference data is treated described in calculating and correct accumulated error whereby.
17. operation methods according to claim 10, wherein the contrastive pattern also includes：
Treat that contrast images data are unidentified with the location recognition that the difference value of the reference data exceedes recognition threshold by described
Position.
A kind of 18. optical encoders, for there is relative motion with sensing surface, the optical encoder is included：
Luminescence unit, is used to launch light to the sensing surface；
Light sensing unit, is used to sense the light from sensing surface reflection to produce image；And
Processing unit, to be judged to repeat to sense corresponding on the sensing surface according to described image in record pattern is deposited
Homeposition is determining opereating specification and store the origin position and extremely corresponded in the opereating specification on the sensing surface
A few reference data for reference position.
19. optical encoders according to claim 18, wherein processing unit basis also in contrastive pattern is described
Image is produced to be treated to treat that contrast images data are compiled with the reference data to determine the optics described in contrast images data and contrast
The current location of the code device correspondence sensing surface.
20. optical encoders according to claim 18, wherein the processing unit using motion-vector, displacement,
The anglec of rotation or rotational time distinguish the origin position of the opereating specification and at least one reference position.
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| JP6323439B2 (en) * | 2015-12-17 | 2018-05-16 | カシオ計算機株式会社 | Autonomous mobile device, autonomous mobile method and program |
| CN106776443A (en) * | 2016-12-26 | 2017-05-31 | 歌尔科技有限公司 | A kind of regulating system and electronic equipment for electronic equipment |
| CN109737998B (en) * | 2018-12-29 | 2021-11-19 | 苏州汇川技术有限公司 | Encoder electric tuning method, device and storage medium |
| CN110686712A (en) * | 2019-11-22 | 2020-01-14 | 中国科学院长春光学精密机械与物理研究所 | Reflective image photoelectric encoder |
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