CN107449375A - A kind of increment type Circular gratings chi grating Angular Displacement Detecting System and method - Google Patents
A kind of increment type Circular gratings chi grating Angular Displacement Detecting System and method Download PDFInfo
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- CN107449375A CN107449375A CN201710773144.4A CN201710773144A CN107449375A CN 107449375 A CN107449375 A CN 107449375A CN 201710773144 A CN201710773144 A CN 201710773144A CN 107449375 A CN107449375 A CN 107449375A
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- angular displacement
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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
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
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Abstract
The present invention relates to a kind of increment type Circular gratings chi grating Angular Displacement Detecting System and method, system includes source of parallel light, increment type Circular gratings chi, photosensor arrays, signal processing unit, angular displacement display unit and high speed voltage comparator；Wherein, the direction of illumination of the vertical parallel light source of increment type Circular gratings chi；Photosensor arrays are positioned in the increment type Circular gratings chi grating pitch, and are uniformly distributed in step type；High speed voltage comparator is connected between photosensor arrays and signal processing unit, and shaping is carried out to photosensor arrays output signal and the square-wave signal drawn to shaping carries out level conversion；The signal processing unit is connected with angular displacement display unit, and the value of angular displacement being calculated is included on angular displacement display unit.The present invention has the advantages that composition is simple, testing cost is low, measurement accuracy is high, detection speed is fast, practical.
Description
Technical field
The present invention relates to the technical field of accurate measurement, more particularly to a kind of increment type Circular gratings chi grating angular displacement to examine
Examining system and method.
Background technology
In accurate measurement, Circular gratings chi, using the optical principle of grating, is substantially carried out displacement of the lines as important instrument
With the measurement of angular displacement.
Mainly in the manufacture of grating, the quality of grating directly influences whether to examine the key technology and difficult point of Circular gratings chi
Survey the precision and reliability of result.Existing Circular gratings chi mainly has glass Circular gratings chi and round metal grating scale, and its form has
Two kinds of increment type Circular gratings chi and absolute type Circular gratings chi.
Wherein, increment type Circular gratings chi needs to refer to signal (relative zero), and the operation of reference point back to zero must be performed when upper electric.
After power down, grating scale must back to zero again so that equipment is unable to recovery operation.In addition, in excessive velocities, pulse can be produced
Dropout and influence accuracy.And absolute type Circular gratings chi is to delineate one on scale grating to carry absolute position encoder
Code channel, one fixed code channel of each position correspondence, measurement indicating value is only relevant with the starting of measurement and the position of termination, with
Between measurement process it is unrelated, current location can also be recovered after power down, anti-interference is good.But absolute grating scale coding is complicated,
Manufacturing cost is high, and reading speed is slow, it is necessary to carry out groove on scale grating, and its measurement accuracy and the precision of scale grating have very
Important Relations, therefore in high-acruracy survey, very high is required to scale grating line, so as to add processing cost.
How in the case where testing cost is relatively low high accuracy and at a high speed measure grating angular displacement, turn into urgently to be resolved hurrily
The problem of.
The content of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide one kind composition is simple, testing cost is low, measurement is smart
Degree is high, the increment type Circular gratings chi grating Angular Displacement Detecting System that detection speed is fast, practical.
To achieve the above object, technical scheme provided by the present invention is：
A kind of increment type Circular gratings chi grating Angular Displacement Detecting System, it includes source of parallel light, increment type Circular gratings chi, light
Electric transducer array, signal processing unit, angular displacement display unit and high speed voltage comparator；Wherein, increment type Circular gratings
The direction of illumination of the vertical parallel light source of chi；Photosensor arrays are positioned in the increment type Circular gratings chi grating pitch, and are in
Step type is uniformly distributed；High speed voltage comparator is connected between photosensor arrays and signal processing unit, to photoelectric transfer
Sensor array output signal carries out shaping and the square-wave signal drawn to shaping carries out level conversion；The signal processing unit
It is connected with angular displacement display unit, the value of angular displacement being calculated is included on angular displacement display unit.
Further, photoelectric sensor number n=(H-D)/(D+L)+1；Misplace angle x=(w-q)/(n-1)；Wherein, q
For the angle corresponding to n-th of photoelectric sensor, w is the angle between two grid lines；H is grid line length；D is photoelectric sensor
In the width of grid line length direction；X is that adjacent two photoelectric sensor misplaces angle on Circular gratings chi direction of rotation；L is adjacent
Gap.
To achieve the above object, the present invention additionally provides a kind of increment type Circular gratings chi grating angle position for said system
Move detection method：Comprise the following steps：
S1, the illumination sent from source of parallel light are mapped on increment type Circular gratings chi；
S2, photosensor arrays receive illumination, and high level signal and low electricity are exported according to whether being blocked by grating grid
Ordinary mail number；
S3, high speed voltage comparator carry out shaping and level conversion to the level signal of output；
S4, signal processing unit receive the signal of shaping and level conversion, and signal edge detection is carried out to it, is judged
The grating direction of motion simultaneously counts, and draws value of angular displacement；
S5, angular displacement display unit show the value of angular displacement that signal processing unit processes are drawn.
Further, the direction of motion utilizes what combinational logic exported respectively according to adjacent three photoelectric sensors in step S4
The characteristics of signal A, B, C, is judged；In the case of clockwise movement, the direction of motion isCounterclockwise movement
In the case of, the direction of motion is
Further, signal processing unit carries out porch detection using Edge extraction and counted, required detection side
Along the rising edge edge for being pulse.
Further, grating value of angular displacement calculating process is as follows：
During grating clockwise movement, angular displacementCalculation formula is：Wherein,For previous angle position
Shifting value, ω are the angular displacement corresponding to a pitch, and for N by the number of sensors placed in a pitch, M is the pulse counted
Number；During grating counterclockwise movement,
Compared with prior art, this programme principle is as follows：
Source of parallel light is irradiated on increment type Circular gratings chi, because photoelectric sensor is high to intensity of illumination susceptibility, not by
The photoelectric sensor that grating scale grid line blocks receives whole illumination, exports high level signal, and the photoelectric sensor being blocked receives
Part illumination does not receive illumination, and intensity of illumination is low, exports low level signal.Because photoelectric sensor is in detection intensity of illumination change
During change, the waveform of output is not ideal square wave signal, it is necessary to carry out shaping to the signal of output.This programme uses high speed voltage ratio
Shaping is carried out to photoelectric sensor output signals compared with device, exports square-wave signal, and signal is subjected to low and high level conversion output extremely
Signal processing unit, enter line-pulse signal Edge check and judge the grating direction of motion and count, finally obtain grating angular displacement
Value.
Compared with prior art, there is advantages below：
1. displacement detecting method signal is directly exported by photoelectric sensor, detection speed is fast；
2. system simplifies, testing cost is cheap；
It is 3. practical：Relatively low is required to photoelectric sensor, the porch after shaping need to only be detected and counted
It can obtain shift value.
Brief description of the drawings
Fig. 1 is a kind of structural representation of increment type Circular gratings chi grating Angular Displacement Detecting System in the present invention；
Fig. 2 is the partial enlarged drawing of 101 parts in Fig. 1；
Fig. 3 is distribution map of the photoelectric sensor in grating pitch in the embodiment of the present invention；
Fig. 4 is the initial position schematic diagram that grating scale moves clockwise in the embodiment of the present invention；
Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9, Figure 10, Figure 11 are increment type Circular gratings chi clockwise movement in the embodiment of the present invention
Seven positions and its schematic diagram of corresponding output signal that process is undergone；
Figure 12 is the schematic diagram in the embodiment of the present invention the characteristics of output signal of clockwise movement walking direction institute foundation；
Figure 13, Figure 14, Figure 15, Figure 16, Figure 17, Figure 18, Figure 19 are increment type Circular gratings chi in the embodiment of the present invention suitable
Seven positions undergone in hour hands motion process after commutation motion suddenly and its schematic diagram of corresponding output signal；
Figure 20 directions of motion that commutated suddenly in clockwise movement for grating scale in the embodiment of the present invention judge institute's foundation
The schematic diagram of the characteristics of output signal；
Figure 21 is the combinational logic circuit figure for being used to judge direction in the embodiment of the present invention.
Embodiment
With reference to specific embodiment, the invention will be further described：
Referring to shown in accompanying drawing 1-3, a kind of increment type Circular gratings chi grating Angular Displacement Detecting System described in the present embodiment, wrap
Include source of parallel light 1, increment type Circular gratings chi 2, photosensor arrays 3, signal processing unit 4, angular displacement display unit 5 and
High speed voltage comparator 6；Wherein, the direction of illumination of the vertical parallel light source 1 of increment type Circular gratings chi 2；Photosensor arrays 3 are put
It is placed in the grating pitch of increment type Circular gratings chi 2, and is uniformly distributed in step type；Photoelectric sensor number n=(grid line length
Width D of the H- photoelectric sensors in grid line length direction)/(width D+photoelectric sensing of the photoelectric sensor in grid line length direction
Adjacent segment L between device)；Misplace angle x=(the angle q) corresponding to n-th of photoelectric sensor of angle w- between two grid lines/
(photoelectric sensor number n-1)；High speed voltage comparator 6 is connected between photosensor arrays 3 and signal processing unit 4,
Shaping is carried out to the output signal of photosensor arrays 3 and the square-wave signal drawn to shaping carries out level conversion；The letter
Number processing unit 4 is connected with angular displacement display unit 5.
System work process is as follows：
S1, the illumination sent from source of parallel light 1 are mapped on increment type Circular gratings chi 2；
S2, photosensor arrays 3 receive illumination, and high level signal and low electricity are exported according to whether being blocked by grating grid
Ordinary mail number；
S3, high speed voltage comparator 6 carry out shaping and level conversion to the level signal of output；
S4, signal processing unit 4 receive the signal of shaping and level conversion, and signal edge detection is carried out to it, is sentenced
The disconnected grating direction of motion simultaneously counts, and draws value of angular displacement；Concretely comprise the following steps：
S41, assume increment type Circular gratings chi 2 relative to photoelectric sensor clockwise movement, initial time 0, photoelectric sensing
Distribution and its corresponding output signal of the device in grating pitch, as shown in Figure 4；
S42,1 at the time of motion, photoelectric sensor is blocked by grating grid, and the output of the photoelectric sensor that is not blocked is high
Signal is inverted, that is, hidden by level, the photoelectric sensor output low level being blocked, the present embodiment in order to easy to detect
The sensor output high level of gear, on the contrary then output low level (following description is taken this as the standard), as shown in Figure 5；
S43, continue positive movement to the moment 2,3,4,5,6,7, corresponding signal respectively as Fig. 6, Fig. 7, Fig. 8, Fig. 9,
Shown in Figure 10, Figure 11；
S44, judged according to the characteristics of adjacent three photoelectric sensor output signals using combinational logic travel direction, combination
Logic circuit is as shown in figure 21；Assuming that the output signal difference corresponding A of photoelectric sensor 1,2,3, B, C；In clockwise movement
In the case of, the direction of motion isAs shown in figure 12；Conversely, if grating scale is relative to sensor counterclockwise movement,
Then signal output is exported since photoelectric sensor numbering n, and the direction of motion is
S45, assume unexpected deflecting in motion process, judge that counterclockwise movement is extremely also with combinational logic travel direction
At the moment 8,9,10,11,12,13,14, corresponding signal is respectively as shown in Figure 13,14,15,16,17,18,19；
S46, signal processing unit 4 carry out porch detection using Edge extraction and counted, and required detection edge is
The rising edge edge of pulse；Grating value of angular displacement calculating process is as follows：
During grating clockwise movement, angular displacementCalculation formula is：Wherein,For previous angle position
Shifting value, ω are the angular displacement corresponding to a pitch, and for N by the number of sensors placed in a pitch, M is the pulse counted
Number；During grating counterclockwise movement,
S5, angular displacement display unit 5 show that signal processing unit 4 handles the shift value drawn.
The present embodiment has the advantages that composition is simple, testing cost is low, measurement accuracy is high, detection speed is fast, practical.
Examples of implementation described above are only the preferred embodiments of the invention, and the implementation model of the present invention is not limited with this
Enclose, therefore the change that all shape, principles according to the present invention are made, it all should cover within the scope of the present invention.
Claims (6)
- A kind of 1. increment type Circular gratings chi grating Angular Displacement Detecting System, it is characterised in that：Including source of parallel light (1), increment type Circular gratings chi (2), photosensor arrays (3), signal processing unit (4), angular displacement display unit (5) and high speed voltage ratio Compared with device (6)；Wherein, the direction of illumination of increment type Circular gratings chi (2) vertical parallel light source (1)；Photosensor arrays (3) are placed In in increment type Circular gratings chi (2) grating pitch, and it is uniformly distributed in step type；High speed voltage comparator (6) is connected to light Between electric transducer array (3) and signal processing unit (4), to photosensor arrays (3) output signal carry out shaping and The square-wave signal drawn to shaping carries out level conversion；The signal processing unit (4) is connected with angular displacement display unit (5), The value of angular displacement being calculated is included on angular displacement display unit (5).
- A kind of 2. increment type Circular gratings chi grating Angular Displacement Detecting System according to claim 1, it is characterised in that：It is described Photoelectric sensor number n=(H-D)/(D+L)+1；Misplace angle x=(w-q)/(n-1)；Wherein, q is n-th of photoelectric sensor Corresponding angle, w are the angle between two grid lines；H is grid line length；D is photoelectric sensor in grid line length direction Width；X is that adjacent two photoelectric sensor misplaces angle on Circular gratings chi direction of rotation；L is adjacent segment.
- A kind of 3. increment type Circular gratings chi grating Angular Displacement Detecting method for system described in claim 1, it is characterised in that： Comprise the following steps：S1, the illumination sent from source of parallel light are mapped on increment type Circular gratings chi；S2, photosensor arrays receive illumination, and high level signal and low level letter are exported according to whether being blocked by grating grid Number；S3, high speed voltage comparator carry out shaping and level conversion to the level signal of output；S4, signal processing unit receive the signal of shaping and level conversion, and signal edge detection is carried out to it, judges grating The direction of motion simultaneously counts, and draws value of angular displacement；S5, angular displacement display unit show the value of angular displacement that signal processing unit processes are drawn.
- A kind of 4. increment type Circular gratings chi grating Angular Displacement Detecting method according to claim 3, it is characterised in that：It is described Signal processing unit carries out porch detection using Edge extraction and counted, and required detection edge is the rising edge of pulse Edge.
- A kind of 5. increment type Circular gratings chi grating Angular Displacement Detecting method according to claim 3, it is characterised in that：It is described The characteristics of signal A, B, C that the direction of motion is exported respectively using combinational logic according to adjacent three photoelectric sensors in step S4, enters Row judges；In the case of clockwise movement, the direction of motion isIn the case of counterclockwise movement, the direction of motion is
- A kind of 6. increment type Circular gratings chi grating Angular Displacement Detecting method according to claim 3, it is characterised in that：It is described Grating value of angular displacement calculating process is as follows：During grating clockwise movement, angular displacementCalculation formula is：Wherein,For previous value of angular displacement, ω is the angular displacement corresponding to a pitch, and for N by the number of sensors placed in a pitch, M is the pulse number counted； During grating counterclockwise movement,
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| CN111060002A (en) * | 2018-10-17 | 2020-04-24 | 韩国标准科学研究院 | Absolute position measuring method and absolute position measuring device |
| CN112254665A (en) * | 2020-09-09 | 2021-01-22 | 杭州电子科技大学 | High-precision digital circular division sensor, system and detection method |
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| US6100519A (en) * | 1998-06-02 | 2000-08-08 | Ching Shun Wang | Photo-detector based calculating means having a grating wheel with integrated lenses |
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| CN112254665A (en) * | 2020-09-09 | 2021-01-22 | 杭州电子科技大学 | High-precision digital circular division sensor, system and detection method |
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