CN107063096A - position coding method and device - Google Patents
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- CN107063096A CN107063096A CN201710111821.6A CN201710111821A CN107063096A CN 107063096 A CN107063096 A CN 107063096A CN 201710111821 A CN201710111821 A CN 201710111821A CN 107063096 A CN107063096 A CN 107063096A
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- 238000005259 measurement Methods 0.000 claims abstract description 26
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- 238000006243 chemical reaction Methods 0.000 abstract description 7
- 230000000295 complement effect Effects 0.000 abstract description 2
- 238000006073 displacement reaction Methods 0.000 description 6
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
- G01D5/32—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
- G01D5/34—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
- G01D5/347—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells using displacement encoding scales
- G01D5/34776—Absolute encoders with analogue or digital scales
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Abstract
A kind of method for encoding absolute position, its coded sequence is a pseudorandom code sequence, code element is the elementary cell for constituting pseudorandom code sequence, it is alternately present between adjacent code element with complementary type, reaction is in the physics realization of grating ruler, adjacent code element is transparent or opaque, reflection or unreflecting is alternately present；Code element has two kinds of different in width in physics realization：First code element width and second code element width, first code element represent numerical value " 0 ", and second code element represents numerical value " 1 ", and the present invention also provides a kind of position-measurement device corresponding with the coding method.
Description
Technical field
The present invention relates to position coding method and device, belong to linear measure longimetry field.
Background technology
Modern displacement measurement system largely uses grating displacement measuring device, current displacement of the lines and angle displacement measuring device
The measuring system of composition progressively develops into absolute type measuring method from incremental measuring method.
Absolute grating displacement measurement, is being internally provided with position measurement reference component, is generally being called grating ruler, in light
Grid tape measure is carved with absolute position encoder sequence on direction, and absolute position benchmark is provided with this.It is accurate to improve position measurement
Property and reliability, in code Design, coding hopping edge quantity as far as possible many in unit length need to be considered.Evaluate position encoded elder generation
One key character of the property entered is：Occur the quantity of " 0 " to " 1 " and " 1 " to the hopping edge of " 0 " in identical code length,
Quantity is more, and coding information is abundanter, and position decoding result can be more accurate, more reliable.
In Application No. " 200810184424.2 " patent, mention a kind of position-measurement device and determine the volume of absolute position
Code method, its position coding method uses pseudorandom code sequence, and bits of coded uses Synchronization mode, it by " 01 " or
" 10 " are combined, and are embodied in physical layer, and bits of coded is " opaque+transparent " or " transparent+opaque ", wherein " opaque+thoroughly
It is bright " " 0 " value is may be defined as, " transparent+opaque " may be defined as " 1 " value；Relative to general pseudorandomcode, compiled due to each
There is a hopping edge centre of code bit, so as to add unit length interior coding hopping edge quantity, effectively improves the standard of measurement position
True property.Its coding characteristic is as shown in Figure 1.But this coded system hopping edge quantity in the case of regular coding length still has
Limit, limits the raising of accuracy of detection.
The content of the invention
In order to solve the above technical problems, proposing the present invention.
Technical scheme
A kind of method for encoding absolute position applied to grating scale：
One coded sequence figure is set on grating scale, and its coded sequence figure is a pseudorandom code sequence, encoded
Sequence pattern includes multiple printing opacities and the light tight code element for alternateing appearance, or coded graphics includes multiple reflections and do not reflected
Alternate the code element of appearance；Code element is the elementary cell for constituting pseudorandom code sequence figure；
Code element includes first code element and second code element, and first code element width is d1, and second code element width is d2,
The first code element and second code element are met：D2=1.25*d1；
First code element represents numerical value " 0 ", and second code element represents that numerical value " 1 ", or first code element represent numerical value " 1 ", second code
Member represents numerical value " 0 ".
A kind of position-measurement device, including：Light source, collimation lens, grating ruler, imaging sensor, signal acquisition and solution
A coded sequence figure is carved with code module, the grating ruler, its coded sequence figure is a pseudorandom code sequence figure,
It is characterized in that：Code element be constitute pseudorandom code sequence figure elementary cell, coded sequence figure include multiple printing opacities and
The light tight code element for alternateing appearance, or coded sequence figure include multiple reflections and do not reflect the code for alternateing appearance
Member；
Code element includes first code element and second code element, and first code element width is d1, and second code element width is d2,
The first code element and second code element are met：D2=1.25*d1；
First code element represents numerical value " 0 ", and second code element represents that numerical value " 1 ", or first code element represent numerical value " 1 ", second code
Member represents numerical value " 0 ".
Another coded sequence figure is also carved with grating ruler, as increment code channel；Above-mentioned pseudorandom code sequence figure
As absolute code channel.
Increment code channel is the code channel with the impermeable equal in width separately occurred, or reflects and do not reflect alternate be separated out
The code channel of existing equal in width.
Increment code channel periodic width P meets d1=4*P.
The inventive point of the present invention：
(1) encoded using symbol width information, i.e., be worth using the symbol representative 0,1 of different in width, instead of tradition
As 0,1 this coded system of value, traditional pseudo noise code is overcome certain by the use of " saturating " and " impermeable " (reflection or not)
Code length in a limited number of technical problems in hopping edge.
(2) ratio of preferred two neighboring symbol width is 1.25 times of relations, in the case where ensureing that the bit error rate is relatively low,
Hopping edge quantity is maximised in regular coding length, accuracy of detection is improved.Namely put down using preferred wide association
The contradictory relation weighed between the bit error rate and accuracy of detection, achieves optimal engineering effort.
(3) two code channels are provided with to measure simultaneously, and symbol width meets particular kind of relationship between two code channels, greatly contracts
Small plant bulk, and improve measurement accuracy.
The technique effect that the present invention reaches
(1) quantity of the hopping edge in the case of regular coding length is improved, so as to improve measurement accuracy.
(2) take into account optical system in Practical Project practice the bit error rate that causes of limited resolution it is higher the problem of,
While hopping edge is increased, it is ensured that the need for the bit error rate meets engineering practice, improve the degree of accuracy of measurement, and reduce
To the hardware requirement of optical system.
(3) two code channels are provided with to measure simultaneously, and symbol width meets particular kind of relationship between two code channels, greatly contracts
Small plant bulk, and improve measurement accuracy.
Brief description of the drawings
Fig. 1 is the pseudorandomcode coding based on graceful Chester.
Fig. 2 is the coding pattern that pseudorandomcode of the present invention is 3.
Fig. 3 is the coding pattern that pseudorandomcode of the present invention is 4.
Fig. 4 is the position-measurement device embodiment that pseudorandomcode of the present invention is 4.
Fig. 5 is the position-measurement device embodiment that pseudorandomcode of the present invention is 7.
Embodiment
A kind of improved reliable position-measurement device, including：Light source, collimation lens, grating ruler, image sensing
Device, signal acquisition and decoder module；A coded graphics is carved with the grating ruler, its coded graphics is a pseudorandomcode sequence
Row, code element is the elementary cell for constituting pseudorandom code sequence, and adjacent code element is transparent or opaque, reflection or unreflecting friendship
For appearance；Code element has two kinds：First code element and second code element, first code element width are different from second code element width, first code element
Numerical value " 0 " is represented, second code element represents numerical value " 1 "；First code element width is more than second code element width, and first code element width is less than
Or equal to 1.25 times of second code element width；Either second code element width is more than first code element width, and second code element width is small
In or equal to 1.25 times of first code element width；After the collimated collimated of light that the light source projects go out, by grating ruler
Coded graphics is projected on imaging sensor, and coded graphics is carried out opto-electronic conversion, signal acquisition and decoding mould by imaging sensor
Coded graphics electric signal after conversion is acquired and decoded by block, the final position value required for producing.
Embodiments of the invention 1：Position-measurement device as shown in Figure 3, including：Light source 3, collimation lens 4, grating ruler 1,
Imaging sensor 2, signal acquisition and decoder module 5；A coded graphics is carved with grating ruler 1, its coded graphics is one 4
Pseudorandom code sequence, code element A1 and code element A2 are the elementary cells for constituting pseudorandomcode, and adjacent code element is transparent or impermeable
Bright is alternately present, and code element A1 width is d, and code element A2 width is 1.25*d, and d=80 μm, code element A1 represents numerical value " 0 ", code element
A2 represents numerical value " 1 ".After the collimated lens 4 of light that light source 3 is projected are collimated, the coded graphics in grating ruler 1 is projected to
On imaging sensor 2, coded graphics is carried out opto-electronic conversion by imaging sensor 2, and signal acquisition is with decoder module by after conversion
Coded graphics electric signal is acquired and decoded, the final position value required for producing.
Embodiments of the invention 2：Position-measurement device as shown in Figure 4, including：Light source 3, collimation lens 4, grating ruler 1,
Imaging sensor 2, signal acquisition and decoder module 5；A coded graphics is carved with grating ruler 1, its coded graphics is one 7
Pseudorandom code sequence, code element A1 and code element A2 are the elementary cells for constituting pseudorandomcode, and adjacent code element is transparent or impermeable
Bright is alternately present；Code element A1 width is d, and code element A2 width is 1.25*d, and d=80 μm, code element A1 represents numerical value " 0 ", code element
A2 represent numerical value " 1, after the collimated lens 4 of light that light source 3 is projected are collimated, the coded graphics in grating ruler 1 is projected into figure
As on sensor 2, coded graphics is carried out opto-electronic conversion by imaging sensor 2, and signal acquisition and decoder module are by the volume after conversion
Code figure electric signal is acquired and decoded, the final position value required for producing.
Method for encoding absolute position used is in the embodiment of the present invention：Its coded sequence is a pseudorandomcode sequence
Row, code element is to be alternately present between the elementary cell for constituting pseudorandom code sequence, adjacent code element with complementary type, is reacted in light
In the physics realization of grid scale, adjacent code element is transparent or opaque, reflection or unreflecting is alternately present；Code element has two kinds：
First code element and second code element, first code element width are different from second code element width, and first code element represents numerical value " 0 ", second code
Member represents numerical value " 1 "；First code element width is more than second code element width, and first code element width is less than or equal to second code element width
1.25 times, or second code element width be more than first code element width, second code element width be less than or equal to first code element it is wide
1.25 times of degree.
That is, first code element and second code element are met：D1=1.25*d2, or d2=1.25*d1, wherein d1 are
The width of first code element, d2 is the width of second code element.Wherein 1.25 times of relation is that inventor is total in by a large amount of practices
Bear the optimal value come.
Position encoder device is in Project Realization, after generally being collimated with LED through light, will be position encoded in grating ruler 1
Pattern is projected on imaging sensor, although LED is collimated by light, due to the discreteness of light and various diffusing reflections interference,
During there are still 5~10% criterion error, i.e. symbol width for d, the width projected on imaging sensor is probably 0.9d
~1.1d.If that is, two code elements different widths are smaller, there is error code during detection.Following table is test
Relation between obtained symbol width relation and the bit error rate.
| Adjacent code element wide association | The bit error rate (ppm is hundred a ten thousandths) |
| 1.05 again | 91ppm |
| 1.1 again | 75ppm |
| 1.15 again | 43ppm |
| 1.2 again | 11ppm |
| 1.25 again | 0.5ppm |
| 1.3 again | 0.47ppm |
| 1.5 again | 0.45ppm |
As can be seen from the table, when two neighboring symbol width relation is more than or equal to 1.25 times, the bit error rate is that engineering is real
Trample middle acceptable.Meanwhile, the bit error rate kept stable after 1.25 times will not be significantly reduced again, illustrate this 1.25
Multiple is optimal value, unrelated more than relation of the bit error rate substantially between symbol width after the value, but by system other because
What element was produced.That is, in order to improve coding identification reliability, being groped according to engineering practice, selection second code element width is
1.25 times of first code element width are reliable.
On the other hand, second code element width is not preferably greater than first code element width too much, otherwise, can reduce imaging sensor receipts
Hold positional information hopping edge quantity.And hopping edge quantity directly determines the precision of detection.For example in such as Fig. 4, in grating ruler 1
It is carved with 4 pseudo-random positions coding, imaging sensor 2 gathers position encoded information, knows from Fig. 4, imaging sensor 2 can be received
The black and white hopping edge and white black hopping edge quantity for holding pseudorandomcode are 11；As in Fig. 5, be carved with grating ruler 15 puppets with
Machine is position encoded, and imaging sensor 2 gathers position encoded information, knows from Fig. 5, and imaging sensor 2 can house pseudorandom volume
The black and white hopping edge of code and in vain black hopping edge quantity are 12；The saltus step for these pseudorandomcodes that imaging sensor 2 is housed
Along projecting on imaging sensor 2, their own is exactly positional information, and position computing is involved in position decoding, these letters
Breath, which will be normalized to, refers to pixel position, then seeks the inequality of these positions, finally determines measurement position value, these saltus steps
It is more along quantity, comprising positional information it is abundanter, position inequality effect is better, and measured position is more accurate.Therefore,
If two code elements different widths are larger, hopping edge quantity can be caused to tail off, in addition with conventional art and indifference.For example,
First code element width is d1=d in the present invention, and second code element width is d2=1.5*d, when encoding digit N=4, with application number
Coded sequence mode for " 200810184424.2 " patent compares, even if being disposed adjacent using this/impermeable of the present invention,
With the coded system of symbol width differentiation 0 and 1, its equal length hopping edge number advantage is not obvious.It is 18d in total length
When, coded system hopping edge of the present invention is 13.6, and the coded system saltus step of Application No. " 200810184424.2 " patent
Along being 13, substantially without essential distinction.And if first code element width is d1=d in the present invention, second code element width is d2
=1.25*d, when encoding digit N=4, coded system of the invention then has obvious advantage.Now the present invention is in coding length
Hopping edge is changed into 15.1 when spending for 18d, hence it is evident that more than prior art.
It is can be seen that from both the above table through substantial amounts of experiment, the selected second code element width of the present invention is that first code element is wide
1.25 times of degree are optimal selections, are also the inventive point of the present invention.
Reference can be made to shown in Fig. 2 and Fig. 3, Fig. 2 is the coding pattern that pseudorandomcode of the present invention is 3, Fig. 3 is of the invention pseudo-
Random coded is the coding pattern of 4.Relative to general pseudorandomcode method and Application No. " 200810184424.2 " specially
The coding method of profit, it is an advantage of the invention that：In identical code length, the coding hopping edge in the present invention is more, coding
Information is more rich, and more accurate, more reliable information is provided for position decoding.
By taking 4~7 pseudorandomcodes as an example, three kinds of pseudorandomcode features are compared.It is necessary explanation,
Code element minimum widith is usually that can be limited by optical limit in optical position-measurement field, coding, it is impossible to which design is too
It is small, so three kinds of codings must compare under same minimum symbol width, if minimum symbol width is d, first in the present invention
Symbol width is also d, and second code element width is 1.25*d, and coding digit is N.
More preferably embodiment
In order to further improve in Absolute position measurement precision, absolute grating displacement measuring device, when realizing coding,
Two code channels are generally carved with grating ruler：Absolute code channel and increment code channel.Absolute code channel is exactly pseudorandom mentioned above
The code channel of sequence pattern composition, increment code channel is the code channel of the equal in width separately occurred with impermeable (reflect/not reflecting), is increased
The periodic width P of code channel is measured by being constituted including the saturating combined width with impermeable (reflect/not reflecting) equal in width striped.Absolute code channel
For determining that absolute position is slightly worth, increment code channel is used for determining precision positions value, after the two is combined, and realizes precision positions survey
Amount.In order that the two can be smoothly with reference to, it is necessary to which definitely the minimum bar width of code channel be the integral multiple of increment code channel periodic width.
Although minimum period width is smaller can to reduce plant bulk, Practical Project fulfillment capability is considered simultaneously, light is generally utilized
Learning width excessively small when sciagraphy signal receives measurement can cause error code to produce.Therefore many experiments are passed through, 20 μm are increments
Code channel cycle optimal width P, and now the first code element width of absolute code channel is d1=4*P=80 μm, the second of absolute code channel
D2=5*P=100 μm of symbol width is optimal, just while above-mentioned d2=1.25*d1 is met, meets absolute code
The integral multiple condition in road and increment code channel, and the periodic width P of increment code channel is at utmost reduced, reduce volume.Therefore,
P=20 μm, d1=80 μm, d2=100 μm is preferred value, belongs to one of the inventive point of the present invention.For example, when coding digit is 4
When, use the precision that the optimal embodiment is obtained for 0.1 μm, the bit error rate is 0.5ppm；And if P=40um, d1=80 μm,
D2=100 μm, then caused confusion due to being unsatisfactory for integral multiple condition, the bit error rate rises to 13ppm；If being not provided with incremental code
The measurement accuracy that road is then obtained is 5.0 μm；If P=10 μm, the bit error rate is 78ppm.
Comparative example
When encoding digit N=3, the general pseudorandom code sequence of generation is：100111010, correspondence Application No.
The coded sequence of " 200810184424.2 " patent is 100101101010011001, and the coded sequence of the correspondence present invention is also
100111010, when table 1 describes coding digit N=3, each there is " 0 " under the conditions of same coding total length in three kinds of codings
To the number of " 1 " and " 1 " to the hopping edge of " 0 ", hopping edge number of the invention is calculated referring to Fig. 2
Table 1
When encoding digit N=4, the general pseudorandom code sequence of generation is：100011110101100100,
Correspondingly the coded sequence of Application No. " 200810184424.2 " patent is：100101011010101001100110
100101100101,
Corresponding to coded sequence of the invention is：100011110101100100,
When table 2 describes coding digit N=4, each there is " 0 " extremely under the conditions of same coding total length in three kinds of codings
The number of " 1 " and " 1 " to the hopping edge of " 0 ", hopping edge number of the invention is calculated referring to Fig. 3.
Table 2
When encoding digit N=5, the general pseudorandom code sequence of generation is：1000010010110011111000110
1110101000,
Correspondingly the coded sequence of Application No. " 200810184424.2 " patent is：100101010110010110011010
0101101010101001010110100110101001100110010101,
The coded sequence of the correspondence present invention is 10000100101100111110001101110101000,
When table 3 describes coding digit N=5, three kinds of codings are under the conditions of same coding total length, of respective hopping edge
Number.
Table 3
When encoding digit N=6, the general pseudorandom code sequence of generation is：1000001111110101011001101
11011010010011100010111100101000110000,
Correspondingly the coded sequence of Application No. " 200810184424.2 " patent is：100101010101101010101010
01100110011010010110100110101001101001100101100101101010010101100110101010010
1100110010101101001010101,
Corresponding to coded sequence of the invention is：
10000011111101010110011011101101001001110001011110010100 0110000,
When table 4 describes coding digit N=6, each there is " 0 " extremely under the conditions of same coding total length in three kinds of codings
The number of " 1 " and " 1 " to the hopping edge of " 0 ".
Table 4
When encoding digit N=7, the general pseudorandom code sequence of generation is：1000000110011011000111001
11010111000010011000001010101101001001010011110010001101010000111111101110110
1111010001011001011111000100000,
Correspondingly the coded sequence of Application No. " 200810184424.2 " patent is：100101010101011010010110
10011010010101101010010110101001100110101001010101100101101001010101011001100
11001101001100101100101100110010110101010010110010101101001100110010101011010
10101010100110101001101001101010100110010101100110100101100110101010100101011
00101010101,
Corresponding to coded sequence of the invention is：1000000110011011000111001110101110000100110000
01010101101001001010011110010001101010000111111101110110111101000101100101111
1000100000,
When table 5 describes coding digit N=7, each there is " 0 " extremely under the conditions of same coding total length in three kinds of codings
The number of " 1 " and " 1 " to the hopping edge of " 0 ".
Table 5
The comparing result explanation described by 1~table of table 5：When coding total length is identical, the coding saltus step in the present invention
Along more, coding information is more rich, and more accurate, more reliable information is provided for position decoding.
Accordingly compare in addition, have also been made to the situation of bits of coded more than 7, it is identical with above-mentioned conclusion.
Embodiment of above does not constitute the restriction to claims, same or analogous with present inventive concept
Embodiment is among protection scope of the present invention.
Claims (5)
1. a kind of method for encoding absolute position applied to grating scale, it is characterised in that：
One coded sequence figure is set on grating scale, and its coded sequence figure is a pseudorandom code sequence, coded sequence
Figure includes multiple printing opacities and the light tight code element for alternateing appearance, or coded graphics includes multiple reflections and do not reflected mutually
The code element being alternately present；Code element is the elementary cell for constituting pseudorandom code sequence figure；
Code element includes first code element and second code element, and first code element width is d1, and second code element width is d2,
The first code element and second code element are met：D2=1.25*d1；
First code element represents numerical value " 0 ", and second code element represents that numerical value " 1 ", or first code element represent numerical value " 1 ", second code element table
Registration value " 0 ".
2. a kind of position-measurement device, including：Light source, collimation lens, grating ruler, imaging sensor, signal acquisition and decoding
A coded sequence figure is carved with module, the grating ruler, its coded sequence figure is a pseudorandom code sequence figure, its
It is characterised by：Code element is the elementary cell for constituting pseudorandom code sequence figure, and coded sequence figure is including multiple printing opacities and not
Printing opacity alternates the code element of appearance, or coded sequence figure includes multiple reflections and do not reflect the code element for alternateing appearance；
Code element includes first code element and second code element, and first code element width is d1, and second code element width is d2,
The first code element and second code element are met：D2=1.25*d1；
First code element represents numerical value " 0 ", and second code element represents that numerical value " 1 ", or first code element represent numerical value " 1 ", second code element table
Registration value " 0 ".
3. the position-measurement device as described in above-mentioned any claim, it is characterised in that：Another volume is also carved with grating ruler
Code sequence pattern, as increment code channel；Above-mentioned pseudorandom code sequence figure turns into absolute code channel.
4. the position-measurement device as described in above-mentioned any claim, it is characterised in that：Increment code channel is and impermeable alternate
It is separated out the code channel of existing equal in width, or reflection and the code channel for not reflecting the equal in width separately occurred.
5. the position-measurement device as described in above-mentioned any claim, it is characterised in that：Increment code channel periodic width P meets d1
=4*P.
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| CN108827351A (en) * | 2018-06-28 | 2018-11-16 | 广东工业大学 | A kind of rotary encoder and its measurement method |
| CN109724519A (en) * | 2019-01-21 | 2019-05-07 | 重庆理工大学 | A kind of absolute type linear displacement transducer based on decimal system displacement coding |
| CN114166254A (en) * | 2021-12-09 | 2022-03-11 | 常州索图光电科技有限公司 | Single code channel absolute coding method and coder |
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| CN108444506A (en) * | 2018-05-31 | 2018-08-24 | 苏州汇川技术有限公司 | Encoder code disc, absolute value encoder, location acquiring method and system |
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| CN108827351B (en) * | 2018-06-28 | 2021-07-06 | 广东工业大学 | Rotary encoder and measuring method thereof |
| CN109724519A (en) * | 2019-01-21 | 2019-05-07 | 重庆理工大学 | A kind of absolute type linear displacement transducer based on decimal system displacement coding |
| CN114166254A (en) * | 2021-12-09 | 2022-03-11 | 常州索图光电科技有限公司 | Single code channel absolute coding method and coder |
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