CN105444790A - Linear long-distance absolute value position optical encoder - Google Patents
Linear long-distance absolute value position optical encoder Download PDFInfo
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- CN105444790A CN105444790A CN201410784879.3A CN201410784879A CN105444790A CN 105444790 A CN105444790 A CN 105444790A CN 201410784879 A CN201410784879 A CN 201410784879A CN 105444790 A CN105444790 A CN 105444790A
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Abstract
The invention discloses a linear long-distance absolute value position optical encoder, belongs to the technical field of displacement sensors and aims to overcome the limitation of a rotary encoder in short-distance transportation precise positioning detection. The linear long-distance absolute value position optical encoder comprises a yardstick, a reading head and a signal processing circuit. The reading head moves forth and back in a straight line in the length direction of the yardstick and scans the yardstick. The yardstick is provided with an address code grating and a clock period grating. According to the invention, the reading head and yardstick separated structure is adopted, the yardstick is installed and fixed to a suitable position, parallel to an operation rail, of the ground, and the yardstick is provided with the corresponding address code grating; in addition, the reading head scans the yardstick in movement, a signal processing circuit determines scanned address codes fixed on the yardstick in real time and determines the practical position of the reading head relative to the yardstick.
Description
Technical field
The invention belongs to displacement transducer technology field, in particular, belong to a kind of length distance absolute value position optical encoder.
Background technology
In orbit from tens meters to the equipment of hundreds of rice range motion or vehicle in prior art, the steel ladle transport vehicle such as, used in steel plant workshop, the dedicated track haulage vehicle of the hot Coke Transport car that coke plant workshop uses or carrier rocket, the steel ladle transport vehicle used in steel plant workshop needs accurately to move to corresponding position to be undertaken the molten steel in ladle transporting the manufacturing procedure of carrying out next flow process, hot coke is laid down to carry out dry coke quenching or coke wet quenching operation in the hot Coke Transport car that coke plant workshop the uses corresponding position that needs accurately to move, carrier rocket is transported to the process of transmitting station from assembly shop and needs accurate control by the dedicated track haulage vehicle of carrier rocket.
The common feature of these equipment or vehicle one is exactly that the track only in a very little distance range is back and forth walked; These equipment or vehicle must be accommodated to very accurately behind position to carry out corresponding accurately operation, accurately must know itself relative position in orbit in motion process simultaneously; Be arranged on rotary encoder on its motion rotation axis (incremental or absolute value type) at these equipment or vehicle detect to detect usual use in itself relative position in orbit, prior art, this method for detecting position can only carry out indirect detection probably to determine its relative position in orbit to its motion rotation axis, and this method for detecting position belongs to the measuring method of indirect type.
Be limited by the factor impacts such as the structural failure of self kinematic train of the precision of rotary encoder itself, equipment or vehicle, in addition the joint effect of other other factors many in site environment, the equipment that rotary encoder detects or vehicle very inaccurate relative to the position result of track; Along with after these equipment or vehicle increase service time, its inner accumulative deviation can have a significant impact testing result, and the uncertainty of testing result is very large.
Summary of the invention
The present invention, in order to effectively solve above technical matters, gives a kind of length distance absolute value position optical encoder.
A kind of length distance absolute value position of the present invention optical encoder, is characterized in that: comprise fixing yardstick, the reading terminal of movement, signal processing circuit, yardstick has geocoding grid and clock period grid; Reading terminal has the scanning element scanned geocoding grid and the scanning element scanned clock period grid, the scanning element on reading terminal is connected with signal processing circuit; Any segment length on the corresponding yardstick length direction of any group coding on geocoding grid; Wherein:
Signal processing circuit to scanning element scan geocoding grid information on yardstick and clock period grid information carry out analyzing judge after, determine and export the physical location residing for the relative yardstick of reading terminal.
The tracks of the yardstick of scrambler and equipment or vehicle be arranged in parallel, reading terminal is connected with equipment or vehicle and arranges, reading terminal and yardstick are oppositely arranged, when equipment or vehicle are back and forth walked along track, the reading terminal of scrambler scans yardstick, yardstick has the parallel geocoding grid that arranges and clock period grid; Reading terminal there is scanning element Q
1, Q
2with scanning element P
1, P
2, the scanning element Q on reading terminal
1, Q
2corresponding with geocoding grid, scanning element Q
1, Q
2scan with to geocoding grid, the scanning element P on reading terminal
1, P
2corresponding with clock period grid, scanning element P
1, P
2clock period grid is scanned; When equipment or vehicle are back and forth walked along track, reading terminal scans yardstick, the scanning element Q on reading terminal
1, Q
2with scanning element P
1, P
2respectively the geocoding grid on yardstick and clock period grid are scanned and scanning result is sent to signal processing circuit in real time simultaneously.
According to above-described length distance absolute value position optical encoder, preferably:
Geocoding grid is m sequential coding a
0a
1a
2a
ia
i+1a
i+2a
i+na
m-1, wherein: a
i∈ (0,1), i=0,, m-1, m=2
n-1, a
iunit=0 and a
ithe width of Unit=1 is all L distances;
Clock period grid is the Unit 0 and Unit 1 that are arranged alternately continuously, and on clock period grid, the width of Unit 0 and Unit 1 is all L/2X distances, and X value is more than or equal to 1; X value can be 1;
Reading terminal there are two scanning element Q that geocoding grid is scanned
1, Q
2, and two scanning element P that clock period grid is scanned
1, P
2; Scanning element Q
1, Q
2between distance be (n-1) × L, scanning element P
1, P
2between distance be L/4X; Scanning element P
1, P
2with scanning element Q
1, Q
2all be connected with signal processing circuit.
Geocoding grid sets gradually low order address coding unit a according to m sequential coding
i=0 and high address coding unit a
i=1, the length of low order address coding unit and high address coding unit is all L; A low level clock period unit on clock period grid and a high-order clock period unit form a clock period unit, and the width of low level clock period unit and high-order clock period unit is all L/2 distances.
Any one group of scanning encoding a on geocoding grid
i+1a
i+2a
i+nall correspond to yardstick particular location, on geocoding grid, continuously arranged scanning encoding is all uniquely correspond to continuous print particular location on yardstick, and reading terminal often scans one group of scanning encoding a
i+1a
i+2a
i+n, then just may be used for judging the absolute position residing for the relative yardstick of reading terminal, the limitation of conventional codec can be overcome like this.
According to above-described length distance absolute value position optical encoder, preferably: scanning element Q
1, Q
2with scanning element P
1, P
2all laser transmitting-receiving scanister.
According to above-described length distance absolute value position optical encoder, preferably: geocoding grid and clock period grid are all open-type grids, a on geocoding grid
iunit=0 and a
iunit=1 is respectively opening and non-opening, and the Unit 0 on clock period grid and Unit 1 are respectively opening and non-opening.
Scanning element Q
1, Q
2with scanning element P
1, P
2all laser transmitting-receiving scanister, scanning element Q
1, Q
2with scanning element P
1, P
2all adopt negative logic mode, after the receiving end of scanning element detects the light of transmitting terminal, scanning element output low level, after the receiving end of scanning element does not detect the light of transmitting terminal, scanning element exports high level.Scanning element Q
1, Q
2with scanning element P
1, P
2light signal (unglazed or have light) is converted to electric signal (high level or low level, rising edge or negative edge) and gives signal processing circuit.
Scanning element Q
1, Q
2with scanning element P
1, P
2adopt laser transmitting-receiving scanister and coordinate open-type yardstick can obtain extraordinary detection technique effect, scanning element Q
1, Q
2with scanning element P
1, P
2laser sensitivity very high, reading terminal can be fast in open-type yardstick reciprocatory movement first and last position of corresponding n coding to be detected on geocoding grid in real time.Scanning element Q
1, Q
2with scanning element P
1, P
2launch laser spot diameter than L apart from a little order of magnitude, scanning element Q
1, Q
2with scanning element P
1, P
2the laser spot diameter of launching apart from a little order of magnitude than L, arranges like this and can ensure that Detection results is very reliable.
The coding method of a kind of length distance absolute value position of the present invention optical encoder, is characterized in that: signal processing circuit real-time reception scanning element Q
1, Q
2the address coding signal scanned and scanning element P
1, P
2the clock period signal scanned, and according to the clock period signal that scans judge in real time harbour along yardstick direction of travel, determine the physical location residing for the relative yardstick of reading terminal in real time according to the address coding signal scanned.
According to above-described coding method, preferably: on clock period grid, the width of Unit 0 and Unit 1 is all L/2X distances, scanning element P
1, P
2between distance be L/4X distance, X value is more than 1, scanning element P
1, P
2continuous sweep is to X group 00,01,11,10 signal, and signal processing circuit confirms that reading terminal is along yardstick forward walking L distance; Scanning element Q
1, Q
2scan the n bit address coding a on geocoding grid
i+1a
i+2a
i+na
i+1and a
i+nafterwards, the n bit address coding a scanned on geocoding grid is continued
i+2a
i+3a
i+n+1a
i+2and a
i+n+1, signal processing circuit determines the physical location residing for the relative yardstick of reading terminal according to the two group address codings scanned.
According to above-described coding method, preferably: on clock period grid, the width of Unit 0 and Unit 1 is all L/2X distances, scanning element P
1, P
2between distance be L/4X distance, X value is more than 1, scanning element P
1, P
2continuous sweep is to X group 00,10,11,01 signal, and signal processing circuit confirms that reading terminal oppositely to be walked L distance along yardstick; Scanning element Q
1, Q
2scan the n bit address coding a on geocoding grid
i+1a
i+2a
i+na
i+1and a
i+nafterwards, the n bit address coding a scanned on geocoding grid is continued
ia
i+1a
i+n-1a
iand a
i+n-1, signal processing circuit determines the physical location residing for the relative yardstick of reading terminal according to the two group address codings scanned.
Length of the present invention distance absolute value position optical encoder adopts reading terminal and yardstick Split type structure, and yardstick is fixed on the correct position that ground parallels with orbit, yardstick has corresponding geocoding; There is scanning element reading terminal inside, and reading terminal is arranged on these equipment or vehicle; Reading terminal scans yardstick at the volley, signal processing circuit determines that geocoding determination reading terminal on the fixing yardstick that yardstick scans is relative to the physical location residing for yardstick in real time, and this optical encoder method for detecting position belongs to direct measuring method, substantially do not restrict by the impact of other rugged surroundings factors on-the-spot.
Accompanying drawing explanation
Accompanying drawing 1 is the structural representation of length of the present invention distance absolute value position optical encoder;
Accompanying drawing 2 is yardstick geocoding and the clock period coding principle figure of length of the present invention distance absolute value position optical encoder;
Accompanying drawing 3 is mobile reading terminal structural representations of length of the present invention distance absolute value position optical encoder;
Accompanying drawing 4 is reading terminal photovalve and yardstick corresponding relation figure;
Accompanying drawing 5A is the structural representation of serial output signal treatment circuit;
Accompanying drawing 5B is the electrical block diagram of serial output signal treatment circuit;
Accompanying drawing 5C is serial address coded signal sequential chart;
Accompanying drawing 5D is data acquisition module geocoding process subroutine flow chart;
Accompanying drawing 6 is scanning element P
1, P
2the logical relation variation diagram of forward movement;
Accompanying drawing 7 is scanning element P
1, P
2the sequential logic signal that scan clock cycle grid produces.
Embodiment
Fig. 1 is the structural representation of length of the present invention distance absolute value position optical encoder; Length distance absolute value position of the present invention optical encoder comprises yardstick, reading terminal and signal processing circuit, reading terminal is walked along yardstick length direction reciprocating linear and is scanned yardstick, yardstick has geocoding grid and the clock period grid of parallel setting; Reading terminal scans non-contactly to yardstick, and signal processing circuit is carried out analysis to sweep signal and judged.
The orbit of yardstick and equipment or vehicle is parallel to be arranged, and yardstick is provided with coded message and reads to determine the physical location residing for the relative yardstick of reading terminal for reading terminal; Reading terminal is arranged in operation equipment in orbit or vehicle, reading terminal is along with equipment or vehicle are along track to-and-fro movement, in motion process, reading terminal scans yardstick, and signal processing circuit processes the information that reading terminal scans yardstick and exports the physical location residing for the relative yardstick of reading terminal.
Fig. 2 is yardstick geocoding and the clock period coding principle figure of length of the present invention distance absolute value position optical encoder, yardstick has geocoding grid 1 side by side and clock period grid 2.M sequence rules a alongst pressed by geocoding grid 1
0a
1a
2a
ia
i+1a
i+2a
i+na
m-1encode, wherein: a
i∈ (0,1), i=0,, m-1, m=2
n-1, according to coding, address encoding unit a is correspondingly set
i=0 and address encoding unit a
i=1, address encoding unit a
i=0 and address encoding unit a
ithe width of=1 is all L distances, address encoding unit a
i=0 is the address encoding unit of opening, address encoding unit a
i=1 is the address encoding unit of non-opening; M sequential coding rule is a kind of conventional coding rule in prior art, does not do too much explanation at this.
M sequence a pressed by geocoding grid 1
0a
1a
2a
i-1a
ia
i+1a
m-1regularly arranged, wherein any one address encoding unit a
i=0 or a
i=1, then this address encoding unit a
i=0 or a
i=1 correspondence is opening form or non-opening form at geocoding grid 1, address encoding unit a
ino matter be 1 or 0 its width are all L distances, m sequence a
0a
1a
2a
i-1a
ia
i+1a
m-1in any one group of continuous print n position a
i+1a
i+2a
i+nit can be all one group of geocoding to be detected.
Clock period grid 2 is the Unit 0 and Unit 1 that are arranged alternately continuously, and on clock period grid, the width of Unit 0 and Unit 1 is all L/2X distances, and X value is more than 1, and the present embodiment X value is 1; Reading terminal there are two scanning element Q that geocoding grid is scanned
1, Q
2, and two scanning element P that clock period grid is scanned
1, P
2; Scanning element Q
1, Q
2between distance be (n-1) × L, scanning element P
1, P
2between part Q
1, Q
2with scanning element P
1, P
2be connected; Scanning element Q
1, Q
2for signal processing circuit provides the distance of sweeping to be L/4X, i.e. scanning element Q
1, Q
2the distance of scanning is L/4.Clock period grid 2 is arranged alternately low level clock period unit 0 unit and high-order clock period unit 1 unit along yardstick length direction, the width of low level clock period unit 0 unit and high-order clock period unit 1 unit is all L/2 distances, low level clock period unit is opening clock period unit, and high-order clock period unit is non-opening clock period unit.
Geocoding grid 1 and clock period grid 2 are all open-type grids, arbitrary low order address coding unit a on geocoding grid 1
i=0 and arbitrary high address coding unit a
i=1 is respectively opening form and non-opening form, and on clock period grid 2, arbitrary low level clock period unit and arbitrary high-order clock period unit are respectively opening and non-opening.
On yardstick, each address encoding unit width L of geocoding grid 1 can be chosen for 20mm, and the m sequential coding n on geocoding grid 1 can be chosen for 15, can learn m=2 according to primitive polynomial
n-1=32767, total length be 655.34m (20mm × 32767) yardstick on have 32767 geocodings, the yardstick of 655.34m can meet the working track length requirement at various scene substantially; According to the different requirements at different operating scene in actual use procedure, on yardstick, each cell width L of geocoding grid 1 can choose other suitable numerical value, address encoding unit 1 width L is not limited to 20mm, and the code number of the m sequential coding on geocoding grid 1 is also not limited to aforementioned forms.
Fig. 3 is the mobile reading terminal structural representation of length of the present invention distance absolute value position optical encoder; Reading terminal there are two scanning element Q that geocoding grid is scanned
1, Q
2, reading terminal also has two scanning element P scanned clock period grid
1, P
2; Signal processing circuit respectively with the scanning element Q of reading terminal
1, Q
2with scanning element P
1, P
2be connected.Scanning element Q
1, Q
2with scanning element P
1, P
2be optoelectronic transceiver scanning element, these four scanning elements can utilizing emitted light signal and simultaneously to launch light signal receive; Scanning element Q
1, Q
2with scanning element P
1, P
2laser transmitting-receiving scanister can be used, scanning element Q
1, Q
2with scanning element P
1, P
2launch laser spot diameter than L apart from a little order of magnitude.
Scanning element Q
1, Q
2with scanning element P
1, P
2all adopt negative logic mode, after the receiving end of scanning element detects the light of transmitting terminal, scanning element output low level, after the receiving end of scanning element does not detect the light of transmitting terminal, scanning element exports high level.Scanning element Q
1, Q
2with scanning element P
1, P
2light signal (unglazed or have light) is converted to electric signal (high or low level, rising edge or negative edge).
Scanning element Q
1, Q
2with scanning element P
1, P
2all can adopt the LV-N10 digital laser sensor of Japanese Keyemce company, the digital laser sensor technology index of this model: actual induction distance 500 millimeters between transmitting terminal and receiving end, the spot diameter of photovalve projection is less than 1.0 millimeters, response time 250 microsecond of photovalve.
Reading terminal there are two for scanning the scanning element Q of location, yardstick Shangdi coding grid
1, Q
2, scanning element Q
1, Q
2spacing be (n-1) × L, scanning element Q
1, Q
2for signal processing circuit provides the address coding signal scanned; Reading terminal also have two scanning element P for scan clock cycle grid
1, P
2, scanning element P
1, P
2spacing be L/4, scanning element P
1, P
2for signal processing circuit provides the clock period scanned signal; Signal processing circuit is in real time to scanning element Q
1, Q
2the address coding signal scanned and scanning element P
1, P
2the clock period signal scanned carries out temporal and logic relation judgement, to determine the physical location residing for the relative yardstick of reading terminal in real time.
Often move L distance during reading terminal scanning yardstick, signal processing circuit is according to scanning element P
1, P
2the moving direction detected and sampling instant signal, scanning element Q
1, Q
2read geocoding corresponding on geocoding grid, the position detection resolution of length distance absolute value position of the present invention optical encoder is L.Often move L distance, scanning element P
1, P
2its sequential logical signal of respective generation, signal processing circuit is according to scanning element P
1, P
2between relative sequential relationship (phase place) determine moving direction; P
1, P
2rising edge or negative edge signal for signal processing circuit provide read Q
1or Q
2the sampling instant of corresponding geocoding.
If scanning element P
1, P
2scan one group 00,01,11,10 signals, then signal processing circuit confirms that reading terminal is along yardstick forward walking L distance; Scanning element Q
1, Q
2scan the n bit address coding a on geocoding grid
i+1a
i+2a
i+nafterwards, the n bit address coding a scanned on geocoding grid is continued
i+2a
i+3a
i+n+1, signal processing circuit determines the physical location residing for the relative yardstick of reading terminal according to the two group address codings scanned.
If scanning element P
1, P
2scan one group 00,10,11,01 signal, then signal processing circuit confirms that reading terminal oppositely to be walked L distance along yardstick; Scanning element Q
1, Q
2scan the n bit address coding a on geocoding grid
i+1a
i+2a
i+nafterwards, the n bit address coding a scanned on geocoding grid is continued
ia
i+1a
i+n-1, signal processing circuit determines the physical location residing for the relative yardstick of reading terminal according to the two group address codings scanned.
Scanning element Q
1, Q
2geocoding grid on scanning yardstick, scanning element Q
1, Q
2between cross over n × a
iposition, signal processing circuit reads n bit address coding in succession from yardstick ... a
ia
i+1a
i+2a
i+n-1a
i+na
i+n+1Be located at a
i+1a
i+nany mobile L distance of position reading terminal, signal processing circuit, according to the moving direction of reading terminal, reads one in sampling instant and is newly worth Q
1(a
i) or Q
2(a
i+n+1), according to the moving direction of reading terminal, from the n position a of store-memory
i+1a
i+nin remove a
i+nor a
i+1; With n-1 position memory value, add 1 new value, form new n bit address coding a
ia
i+1a
i+n-1or a
i+2a
i+na
i+n+1; Signal processing circuit have read geocoding serially, and does current address with this address again, and when next step moves L distance, repeat abovementioned steps, signal processing circuit reads the whole geocodings on yardstick.
During initialization, signal processing circuit is according to scanning element P
1, P
2set up counter, often counting then reads scanning element Q 1 time
1, Q
2encode with 1 on geocoding grid, counter counts counts to n, reads n position a in succession
i+1a
i+2a
i+ndo n bit address coding initial value, in the internal storage location of signal processing circuit, store a
i+1a
i+2a
i+n, and remove initialization flag position, initialization completes.
Fig. 4 is reading terminal photovalve and yardstick corresponding relation figure in the present invention; Yardstick has geocoding grid and clock period grid, geocoding grid presses m sequence a along yardstick length direction
0a
1a
2a
ia
i+1a
i+2a
i+na
m-1encode, wherein: a
i∈ (0,1), i=0,, m-1, m=2
n-1, often organize scanning encoding and there is n address encoding unit, often organize scanning encoding in figure and there are 16 address encoding unit, low order address coding unit a
ithe width of=0 is L, high address coding unit a
ithe width of=1 is L; The low level clock period unit that clock period grid is arranged alternately along yardstick length direction and high-order clock period unit, the width of low level clock period unit and high-order clock period unit is all L/2 distances, X=1 in this embodiment.
Reading terminal there are two scanning element Q that geocoding grid is scanned
1, Q
2, scanning element Q as shown in the figure
1, Q
2geocoding grid stays two shades, reading terminal also has two scanning element P scanned clock period grid
1, P
2, scanning element P as shown in the figure
1, P
2clock period grid also stays two shades; Scanning element Q
1, Q
2scan first and last position of 16 address encoding unit, scanning element Q
1, Q
2between distance be 15L, scanning element P
1, P
2between distance be L/4.
Fig. 5 A is the signal processing circuit structure schematic diagram one of Serial output of the present invention;
Serial address coded signal is programmed: reading terminal scanning yardstick ... a
ia
i+1a
i+2a
i+n-1a
i+na
i+n+1often move L distance, the serial address coded signal module of reading terminal exports " shaking hands " signal INTR, data acquisition module inquires " shaking hands " signal INTR, or data acquisition module " is shaken hands " signal INTR triggered interrupts, entering data acquisition module geocoding handling procedure, forming n-bit data in an orderly manner by reading one by one m sequential coding data.
The signal of serial address coding module: have direction D (D
p, D
n) signal, geocoding data Q (corresponding a
i+1or a
i+n), D indicates the value of Q to be a
i+1or a
i+n, " shaking hands " signal INTR.
Accompanying drawing 5B is the electrical block diagram of serial output signal treatment circuit; The serial of reading terminal and parallel address coding signal inside modules single-chip microcomputer model pic16f887,4/8MHz internal clocking, monocycle, one-byte instruction.
The user of scrambler uses the serial address coded signal model calling of " data acquisition module " and reading terminal, by D, Q, INTR signal sequence logical relation in Fig. 5 A, enter geocoding process subroutine after " data acquisition module " inquires " shaking hands " signal INTR, or " being shaken hands " signal INTR triggered interrupts enters geocoding process subroutine.
Build table: m sequence m n bit address coding schedule has been stored in calculator memory, in table 3 primitive polynomial x
15+ x
14+ 1 m sequence generated.
Table look-up: the n bit address coding a read with data acquisition module geocoding process subroutine flow chart
i+1a
i+2a
i+n-1a
i+ndo address, the content of taking out of tabling look-up is exactly familiar continuation address, in real time for control system provides position signalling.
T in Fig. 5 B
1, T
2, T
3, T
4reading terminal photovalve P
1, P
2, Q
1, Q
2the circuit interface that inside provides, out1, out2, out3 are used separately as " shaking hands " signal INTR, direction D, data Q.In Fig. 5 B, out1, out2, out3 are the output of OC door ,+24v power supply; Out1, out2, out3 and most industry DBMS acquisition module compatibility.
Fig. 5 C is serial address coded signal sequential chart; The signal of serial address coded signal module: have direction D (D
p, D
n) signal, geocoding data Q (corresponding a
i+1or a
i+n), D indicates the value of Q to be a
i+1or a
i+n; " shake hands " signal INTR.
Fig. 5 D is data acquisition module geocoding process subroutine flow chart; Serial address coded signal is programmed: reading terminal scanning yardstick ... a
ia
i+1a
i+2a
i+n-1a
i+na
i+n+1often move L distance, the serial address coded signal module of reading terminal exports " shaking hands " signal INTR, data acquisition module inquires " shaking hands " signal INTR, or data acquisition module " is shaken hands " signal INTR triggered interrupts, enter data acquisition module geocoding process subroutine, the data read by are formed n-bit data in an orderly manner.
Fig. 6 is scanning element P in the present invention
1, P
2mobile logical relation variation diagram, scanning element P in Fig. 6
1, P
2mobile L distance completes the scanning of the one-period to clock period grid, simultaneously scanning element Q
1, Q
2also be move L distance; Scanning element P
1, P
2move to kth+1 mouthful from the kth mouth of clock period grid, 4 steps (i.e. four kinds of states) can be decomposed, scanning element P
1, P
2four kinds of light on clock period grid lead to assembled state (having light or unglazed): 00,01,11,10, with it corresponding scanning element P
1, P
2the four kinds of level combinations states exported: 00,01,11,10.
Scanning element P
1, P
2spacing be L/4, scan clock cycle grid in one-way movement process also produces continuously ... 00,01,11,10,00,01,11,10,00,01,11,10 ... sequence of levels; If the one-period through 11,10,00,01,11 (11 is states corresponding to sampling instant), this will through 4 × (L/4); Moving direction signal determines it is at current location a
i+1a
i+nforward position or reverse position; This sampling location and next time use Z × (L/4) to divide between sampling location again to determine, Z=1,2,3,4 time respectively with 00,01,11,10 4 kind of level combinations state be corresponding.
Fig. 7 is scanning element P of the present invention
1, P
2the sequential logic signal that scan clock cycle grid produces; Position 1, position 10 place set up sampling instant, scanning element Q in the drawings
1, Q
2the laser facula signal launched is positioned at arbitrary unit a on yardstick geocoding grid
iposition; At position 1 right lateral or at position 1 left lateral, although P
2level value be identical, but scanning element P
1rising edge or negative edge are produced respectively to the change sequential of light.Position 1 and position 10 can be used for the sampling instant determining right lateral and left lateral, scanning element Q
1, Q
2collection signal Q
10, Q
20; No matter left lateral or right lateral, sampling geocoding a
i(a
i=0 or 1) be same position.The speed of installing reading terminal scanning yardstick on the mobile apparatus changes along with equipment moving speed, the sampling pulse width (duration) initial from sampling instant and the proportional relation of equipment moving speed.
Sampling pulse width: from position 1 to position 2 during right lateral, reading terminal moves L/4, utilizes scanning element P
1, P
2signal logic relation can produce the sampling pulse width T proportional with equipment moving speed, T=(L/4) translational speed; From position 6 to position 7 during left lateral, reading terminal moves L/4, and sampling pulse width T and right lateral are in like manner.
Sampling pulse produces: reading terminal right lateral scanning yardstick, utilizes scanning element P
1, P
2signal logic relation is shown in figure, sets up sampling pulse P in position 1
20rising edge, set up sampling pulse P in position 2
20negative edge, be high level naturally between rising edge and negative edge; This sampling pulse name P produced during right lateral
20; In like manner during left lateral in position 6, position 7, utilize P
1p
2the sampling pulse name P that signal is set up
10.P
20q is read for serial during right lateral
2the signal Q of corresponding yardstick geocoding (have mouth/without mouth)
20, in like manner P
10q is read for serial during left lateral
1the signal Q of the geocoding of corresponding yardstick
10, P
10, P
20signal contains moving direction information.
Sampling pulse is applied: P
20rising edge, negative edge, high level may be used to read Q
2signal Q
20; Use sampling pulse P
20negative edge (occurring in position 2), Q
2light hot spot is positioned at yardstick geocoding a
i(a
il length shared by=0 or 1) centre offset by L/4 position, now read Q
20also be effectively; Use P
20rising edge read Q
20best; Use P
20high level signal be also a kind of method.Sampling pulse P
10application and P
20in like manner; P
10, P
20be the standard signal of reading terminal, use the technician of inventive encoder to use Q
10, Q
20, P
10, P
20standard signal is programmed, and sampling pulse has 3 kinds of usages available, photovalve P
1p
2scan clock cycle grid is transformed into sampling pulse P
10, P
20.
The specific function of signal conversion unit: displacement < L during right lateral, right lateral is continued after the K moment to have carried out once sampling, but do not arrive K+1 sampling instant then equipment moving stopping, then left lateral moves to reach the K moment, now reading terminal no longer sends sampling pulse P
10, forbid repeating to read; During left lateral, displacement < L and above-mentioned processing mode are in like manner.
In Fig. 7 may there is P in position 1 ~ 4 and position 6 ~ 9
1or P
2having mouth to swing without mouth edge, signal conversion unit utilizes clock period grid and P
1p
2between mutual relationship (8 separate states) carry out logical process, guarantee sampling pulse P
10p
20definitely in order.
Encoder position Cleaning Principle and programming: the photovalve Q of reading terminal
1q
2scan address coding grid, in m sequential coding ... a
ia
i+1a
i+2a
i+n-1a
i+na
i+n+1yardstick on, suppose that in current location be a
i+1a
i+2a
i+n-1a
i+nshi Yidong L distance, according to sampling pulse P
10or P
20(P
10, P
20can not occur) simultaneously;
At sampling pulse P
10time read Q
10a on corresponding yardstick
i, a
iwith a of known current location
i+1a
i+2a
i+n-1, composition moves the n bit address coding a of L distance
ia
i+1a
i+2a
i+n-1;
Sampling pulse P
20time, read Q
20a on corresponding yardstick
i+n+1, a
i+n+1with a of known current location
i+2a
i+n-1a
i+ncomposition moves the n bit address coding a of L distance
i+2a
i+n-1a
i+na
i+n+1;
Sampling pulse P
10or P
20determine and read Q
10or Q
20signal, determines from n position a
i+1a
i+2a
i+n-1a
i+nthe n-1 position needed in coding, composition moves the n bit address coding of L distance, sees that address encoding program process flow diagram is read in serial.
Claims (8)
1. a length distance absolute value position optical encoder, is characterized in that: comprise fixing yardstick, the reading terminal of movement, signal processing circuit, yardstick has geocoding grid and clock period grid; Reading terminal has the scanning element scanned geocoding grid and the scanning element scanned clock period grid, the scanning element on reading terminal is connected with signal processing circuit; Any segment length on the corresponding yardstick length direction of any group coding on geocoding grid; Wherein:
Signal processing circuit to scanning element scan geocoding grid information on yardstick and clock period grid information carry out analyzing judge after, determine and export the physical location residing for the relative yardstick of reading terminal.
2. length distance absolute value position according to claim 1 optical encoder, is characterized in that:
Geocoding grid is m sequential coding a
0a
1a
2a
ia
i+1a
i+2a
i+na
m-1, wherein: a
i∈ (0,1), i=0,, m-1, m=2
n-1, a
iunit=0 and a
ithe width of Unit=1 is all L distances;
Clock period grid is the Unit 0 and Unit 1 that are arranged alternately continuously, and on clock period grid, the width of Unit 0 and Unit 1 is all L/2X distances, and X value is more than or equal to 1;
Reading terminal there are two scanning element Q that geocoding grid is scanned
1, Q
2, and two scanning element P that clock period grid is scanned
1, P
2; Scanning element Q
1, Q
2between distance be (n-1) × L, scanning element P
1, P
2between distance be L/4X; Scanning element P
1, P
2with scanning element Q
1, Q
2all be connected with signal processing circuit.
3. length distance absolute value position according to claim 2 optical encoder, is characterized in that: X value is 1.
4., according to the length distance absolute value position optical encoder that claim 1 is stated, it is characterized in that: scanning element Q
1, Q
2with scanning element P
1, P
2all laser transmitting-receiving scanister.
5., according to claim 1,2,3 or 4 arbitrary described length distance absolute value position optical encoder, it is characterized in that: geocoding grid and clock period grid are all open-type grids, a on geocoding grid
iunit=0 and a
iunit=1 is respectively opening and non-opening, and the Unit 0 on clock period grid and Unit 1 are respectively opening and non-opening.
6. a coding method for length distance absolute value position optical encoder, is characterized in that:
Signal processing circuit real-time reception scanning element Q
1, Q
2the address coding signal scanned and scanning element P
1, P
2the clock period signal scanned, and according to the clock period signal that scans judge in real time reading terminal along yardstick direction of travel, determine the physical location residing for the relative yardstick of reading terminal in real time according to the address coding signal scanned.
7. coding method according to claim 6, is characterized in that:
On clock period grid, the width of Unit 0 and Unit 1 is all L/2X distances, scanning element P
1, P
2between distance be L/4X distance, X value is more than 1, scanning element P
1, P
2continuous sweep is to X group 00,01,11,10 signal, and signal processing circuit confirms that reading terminal is along yardstick forward walking L distance; Scanning element Q
1, Q
2scan the n bit address coding a on geocoding grid
i+1a
i+2a
i+na
i+1and a
i+nafterwards, the n bit address coding a scanned on geocoding grid is continued
i+2a
i+3a
i+n+1a
i+2and a
i+n+1, signal processing circuit determines the physical location residing for the relative yardstick of reading terminal according to the two group address codings scanned.
8. coding method according to claim 6, is characterized in that:
On clock period grid, the width of Unit 0 and Unit 1 is all L/2X distances, scanning element P
1, P
2between distance be L/4X distance, X value is more than 1, scanning element P
1, P
2continuous sweep is to X group 00,10,11,01 signal, and signal processing circuit confirms that reading terminal oppositely to be walked L distance along yardstick; Scanning element Q
1, Q
2scan the n bit address coding a on geocoding grid
i+1a
i+2a
i+na
i+1and a
i+nafterwards, the n bit address coding a scanned on geocoding grid is continued
ia
i+1a
i+n-1a
iand a
i+n-1, signal processing circuit determines the physical location residing for the relative yardstick of reading terminal according to the two group address codings scanned.
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| CN105444790B CN105444790B (en) | 2018-04-13 |
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| CN108489406A (en) * | 2018-02-26 | 2018-09-04 | 上海贝高医疗科技有限公司 | A kind of method that Application Optics coding carries out linear measure longimetry |
| CN113324464A (en) * | 2021-04-09 | 2021-08-31 | 深圳市领略数控设备有限公司 | Magnetic scale and calibration method thereof |
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|---|---|
| CN105444790B (en) | 2018-04-13 |
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