CN108592960A - Absolute value encoder and its working method - Google Patents
Absolute value encoder and its working method Download PDFInfo
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- CN108592960A CN108592960A CN201810444775.6A CN201810444775A CN108592960A CN 108592960 A CN108592960 A CN 108592960A CN 201810444775 A CN201810444775 A CN 201810444775A CN 108592960 A CN108592960 A CN 108592960A
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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
The present invention relates to a kind of absolute value encoder and its working method, this absolute value encoder includes：Coding disk, the coding disk are provided with several independent and are evenly distributed on the areas code channel Shang Ma；The code area includes identification code, and positioned at the front end or rear end in code area.Absolute value encoder provided by the invention and its corresponding coding and decoding methods, its coding mode is simple, it is easily achieved, reduce the manufacture difficulty of code-disc, decoding is as unit of code area, decoding speed is substantially increased, the use for adjusting code and check code improves error correcting capability so that entire decoding process is fast and accurate.
Description
Technical field
The present invention relates to a kind of absolute value encoder and its working methods.
Background technology
Rotary encoder is mechanical location angle important in industry, length, velocity feedback and the sensor for participating in control.
According to angle testing principle, optical profile type, magnetic-type, induction type and condenser type can be divided into, shape is exported according to its scale method and signal
Formula can divide increment size encoder, absolute value encoder, absolute value encoder.
Incremental encoder is a kind of variation of opposite location information, the increase for the signal for changing to another point from a bit
With the calculating of reduction, also referred to as " relative type motor ", it needs the continual counting of follow-up equipment, since each data are not
It is independent, and dependent on the reading of front, for earlier data by having a power failure and interfering generated error that can not judge, to make
At deviation accumulation.To sum up being exactly：1, outage problem；2, signal anti-interference problem；3, the resource utilization issue of follow-up equipment,
Especially high resolution encoder, follow-up equipment want all-the-way tracking to sample.
Disadvantages mentioned above based on increment type, people have invented " absolute type operating mode ", it refer to equipment after initialization,
Determine a zero, all location information is the absolute position with this " zero " later, it without follow-up equipment not between
Disconnected counting, but present position values are directly read, for having a power failure and the issuable error of interference institute, due to reading every time all
It is not influenced by front independently, to which deviation accumulation, this " absolute type " operating mode for being known as receiving device will not be caused.
In fact by " the absolute type operating mode " of receiving device and obscuring for " absolute type " of absolute value encoder, it with
" absolute coding " of absolute value encoder is not a concept completely, and there are counting errors and add up error, counting device to supply for it
It is counted when electric fault, high speed and cannot respond to equally likely possibility.
And absolute value encoder refer to decoder internal all positional values coding generate after, all positions in range
It sets and " absolute " determines in encoder, each position is independent simultaneously to have uniqueness, inside and out it each time
Either outside decoder internal or encoder, " meter is all not present all independent of previous digital independent in digital independent
The accumulation calculating of number " and previous reading.So the really definition of absolute encoder, refers to all in coding site and range
The absolute correspondence of position, the counting independent of inside and out add up and independent, unique absolute coding.
In summary in the case where the application scenario with high speed, safety requires, it is preferred to use truly
Absolute value encoder, all positions are independent, unique, absolutely, with ensure data it is absolute reliably with high speed accuracy.In this feelings
Under condition, the present invention is proposed that a kind of decoding speed is fast, the absolute encoder and coding/decoding method of strong antijamming capability.
Invention content
The object of the present invention is to provide a kind of absolute value encoder and its working methods.
In order to solve the above technical problem, the present invention provides a kind of absolute value encoders, including：Coding disk, the volume
Code-disc is provided with several independent and is evenly distributed on the areas code channel Shang Ma；The code area includes identification code, and positioned at code area
Front end or rear end.
Further, the identification code includes solid size or sequence of barcodes combination.
Further, each code section length is identical, is suitable for mutual assistance and knows code；And each code area is independently unique, is suitable for straight
Connect fixation and recognition current location.
Further, the code area further includes the numeric data code being located on rear side of identification code, several check bit, and adjustment position.
Further, the numeric data code is independently unique, and suitable for directly positioning current location；And the numeric data code is by fixing
The continuous code of length forms, or numeric data code is divided into two groups by check code；The wherein described check code is suitable for check part or complete
Portion's numeric data code.
Further, the adjustment position is suitable for adjusting the light transmission of identification code or the consistency of impermeable light attribute.
Further, the check code is suitable for using complement form.
Another aspect, the present invention also provides a kind of working methods of absolute value encoder, including coding method and decoding
Method.
Further, the coding method includes：
Coding disk sets gradually several yards of areas according to certain rule and sets the initial position in first yard of area；Wherein
The code area includes identification code and numeric data code, and the identification code is located at the front end or rear end of numeric data code；
It is split to obtain multi-group data code, and determined each by least one check code or adjustment code among the numeric data code
The corresponding code conversion system of binary system in group numeric data code, and successively to continuous cycles to realize coding on coding disk.
Further, the coding/decoding method includes：
Position all identification code in picture signal, by the Binary Conversion in the multi-group data code in one yard of area be corresponding ten into
Number processed, and system is converted by corresponding encoded, corresponding decimal number is converted into yard area's number；
The about angle in this yard of area is obtained according to code area number and code-disc resolution ratio；
Then further according to the image center location of shooting and the location determination code of combination code section length and identification code and check code
The accurate angle in area.
The invention has the advantages that absolute value encoder provided by the invention and its corresponding coding and decoding methods,
Its coding mode is simple, it is easy to accomplish, the manufacture difficulty of code-disc is reduced, decodes as unit of code area, substantially increases decoding
Speed, the use for adjusting code and check code improve error correcting capability so that entire decoding process is fast and accurate.
Description of the drawings
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is the operation principle schematic diagram of the absolute encoder of the present invention；
Fig. 2（a）It is schematic diagram one of the coding method of the absolute value encoder of the present invention as unit of code area；
Fig. 2（b）It is schematic diagram two of the coding method of the absolute value encoder of the present invention as unit of code area；
Fig. 3 is schematic diagram three of the coding method of the absolute value encoder of the present invention as unit of code area.
In figure, light source 1, code-disc 2, CCD3, lens 41,42.
Specific implementation mode
In conjunction with the accompanying drawings, the present invention is further explained in detail.These attached drawings are simplified schematic diagram, only with
Illustration illustrates the basic structure of the present invention, therefore it only shows the composition relevant to the invention.
Embodiment 1
As shown in Figure 1, it is simpler to present embodiments provide a kind of operation, calculation amount is smaller and measuring speed is very fast, hardware cost
It is relatively low, the absolute value encoder of strong antijamming capability comprising：Coding disk sets gradually light transmission code and impermeable according to certain rule
There are many width for light code, light transmission code and opaque code；Wherein, with the solid size of a fixed width（Or the combination of sequence of barcodes）As
Identification code is one yard of area between two identification codes, and each code section length is equal, and the bar code combination in the areas Qie Gema is unique.
The identification code can be located at the front end or rear end of numeric data code, in embodiments herein, by taking front end as an example.
In the present embodiment, as unit of code area, each code area is independently unique, and length is identical, width data position（It can be with
Referred to as width）It can be limited to 20.
In the present embodiment, the code area includes identification code, numeric data code, several check bit, several adjustment positions, and mutual information
It is more, increase error correcting capability.
In the present embodiment, identification code can be the solid size of unique specific width or the combination of several special code sequences, carry
The uniqueness of high identification code reduces identification difficulty.
In the present embodiment, check bit is used for check part or total data code, improves error correcting capability.
In the present embodiment, adjustment position is used for adjusting the light transmission of identification code or the consistency of impermeable light attribute.
In the present embodiment, adjacent code area can know code with mutual assistance, improve error correcting capability；And can also across code area known
Code improves and knows code speed, improves efficiency.
In the present embodiment, check bit uses complement form, controls the width of numeric data code, reduces the difficulty of reading code.
Embodiment 2
On the basis of embodiment 1, the present embodiment 2 additionally provides a kind of working method of absolute value encoder, including coding method
And coding/decoding method.
The coding method includes：Coding disk sets gradually rising for the first yard of area in several yards of areas and setting according to certain rule
Beginning position；The wherein described code area includes identification code and numeric data code, and the identification code is located at the front end or rear end of numeric data code；The number
It is split to obtain multi-group data code, and determined in each group of data code by least one check code or adjustment code according among code
The corresponding code conversion system of binary system, and on coding disk successively to continuous cycles with realize coding.
In the present embodiment, for two groups, i.e., two groups are divided by check code, and determine the among the described numeric data code
The corresponding code conversion system of binary system in one group of numeric data code, in second group of numeric data code the corresponding code conversion of binary system into
System, and successively to continuous cycles to realize coding on coding disk.
Specifically, seeing Fig. 2（a）And Fig. 2（b）, a kind of coding method of absolute value encoder provided in this embodiment includes：
Coding disk sets gradually light transmission code and opaque code according to certain rule, and there are many width for light transmission code and opaque code；Wherein, with
The solid size of one fixed width（Or the combination of sequence of barcodes）It is one yard of area, each code head of district between two identification codes as identification code
Spend equal, the bar code combination in the areas Qie Gema is unique.
Light transmission code and opaque code the width ratio after check code and adjustment code adjustment are 1:2:3:6 four kinds, wherein identifying
Code is closed with the bright filaments of sun code character of 1+6, and in order to control the width of numeric data code, numeric data code is divided into two groups, and centre adds check code,
The width data position of two groups of numeric data codes is that the binary system pair that can represent data is chosen in 1+4,4 in order to control the width of data bit
The code conversion hexadecimal ranges answered are respectively 2-14 and 1-14, and each bright filaments of sun code overall width in code area is 20, in 360 degree of coding
On disk, there can be 13 × 14=182 totally 182 periods in aforementioned manners, 180 continuous cycles be chosen successively here, if you need to more
Refinement then only needs the digit for increasing numeric data code combination（Namely increase the corresponding code conversion system model of binary system
It encloses）.
This coding/decoding method includes：Based on the picture signal measured by CCD, mark all in picture signal is oriented
Code, according to the center of picture signal, orients the code area being currently located, without Signal Matching is carried out, according to when former code area
Numeric data code combination can directly calculate physical location.Current exact position can be determined according to identification code center.
Specifically, the coding/decoding method includes：Identification code all in picture signal is positioned, by multigroup number in one yard of area
It is corresponding decimal number according to the Binary Conversion in code, and system is converted by corresponding encoded, corresponding decimal number is converted into code
It numbers in area；The about angle in this yard of area is obtained according to code area number and code-disc resolution ratio；Then further according in the image of CCD shootings
Heart position and the accurate angle for combining code section length and the location determination code area of identification code and check code.
By taking Fig. 3 as an example, a kind of coding/decoding method of absolute value encoder of the present embodiment includes：In terms of Fig. 3, the first areas Ge Ma
（Left side code area）Binary data bit to be converted into the decimal system be respectively 5,10；Second areas Ge Ma（Right side code area）Binary number
It is respectively 10,4 to be converted into the decimal system according to position（It is continuation code area between the areas Qie Liangma, omits and be not drawn into herein）, then pass through phase
It answers code conversion system that corresponding decimal number is converted to yard area to number, defines calculation formula (A-X) × N+B=F here,
It is numbered as all initial positions Ma Qu then yard area can be calculated by formula in the code area for being 2,1 using numeric data code decimal value；
A indicates that the corresponding decimal number of first group of numeric data code, B indicate the corresponding decimal number of second group of numeric data code, X wherein in this formula
Indicating the corresponding decimal system initial value of A numeric data codes, B presentation codes convert the value of system, by taking Fig. 3 as an example, then the first areas Ge Ma
（5-2）× 14+10=52, second areas Ge Ma（10-2）×14 +4 = 116.Because choosing 180 periods, so each week
Phase represents 2 degree（Resolution ratio）, 104,232 degree of the about position position in the areas Liang Gema till now can be obtained.Then further according to shooting
Image center location and combine the position of code section length 20 and identification code and check bit, present phase can be released respectively
To exact position, the opposite Precise Position Synthesis calculated is then gone out final result.
In the coding and decoding methods of the absolute value encoder of the present invention, coding mode is simple, is illustrated and is easily achieved, and reduces
The manufacture difficulty of code-disc can carry significantly with the combination of the solid size of unique specific width or several special code sequences when decoding
The accuracy of high identification code identification, and the bar code inside code area only has fixed several and with identification code there is certain ratio to close
It is that can increase the efficiency of identification bar code in identification process accordingly, reduces the probability that wrong bar code occurs.Finally due to each code area
In bright filaments of sun code combination it is unique, so only need to correctly identify by bar code arrangement mode inside target area, you can directly
It is positioned to greatly reduce calculation amount when searching target point position without bar code matching is carried out in the position of code-disc, reduce
Chip CPU usage, improves measuring speed.And check bit sum has been used to adjust position, greatly increase the error correcting capability of bar code.
It is enlightenment with above-mentioned desirable embodiment according to the present invention, through the above description, relevant staff is complete
Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention' entirely.The technology of this invention
Property range is not limited to the contents of the specification, it is necessary to determine its technical scope according to right.
Claims (10)
1. a kind of absolute value encoder, which is characterized in that including：
Coding disk, the coding disk are provided with several independent and are evenly distributed on the areas code channel Shang Ma；
The code area includes identification code, and positioned at the front end or rear end in code area.
2. absolute value encoder according to claim 1, spy are,
The identification code includes solid size or sequence of barcodes combination.
3. absolute value encoder according to claim 1, spy are,
Each code section length is identical, is suitable for mutual assistance and knows code；And
Each code area is independently unique, is suitable for direct fixation and recognition current location.
4. absolute value encoder according to claim 1, spy are
The code area further includes the numeric data code being located on rear side of identification code, several check bit, and adjustment position.
5. absolute value encoder according to claim 4, spy are,
The numeric data code is independently unique, and suitable for directly positioning current location；And
The numeric data code is made of the continuous code of regular length, or
Numeric data code is divided into two groups by check code；Wherein
The check code is suitable for check part or total data code.
6. absolute value encoder according to claim 4, spy are,
The adjustment position is suitable for adjusting the light transmission of identification code or the consistency of impermeable light attribute.
7. absolute value encoder according to claim 1, spy are,
The check code is suitable for using complement form.
8. a kind of working method of absolute value encoder, which is characterized in that including
Coding method and coding/decoding method.
9. working method according to claim 8, which is characterized in that
The coding method includes：
Coding disk sets gradually several yards of areas according to certain rule and sets the initial position in first yard of area；Wherein
The code area includes identification code and numeric data code, and the identification code is located at the front end or rear end of numeric data code；
It is split to obtain multi-group data code, and determined each by least one check code or adjustment code among the numeric data code
The corresponding code conversion system of binary system in group numeric data code, and successively to continuous cycles to realize coding on coding disk.
10. working method according to claim 9, which is characterized in that
The coding/decoding method includes：
Position all identification code in picture signal, by the Binary Conversion in the multi-group data code in one yard of area be corresponding ten into
Number processed, and system is converted by corresponding encoded, corresponding decimal number is converted into yard area's number；
The about angle in this yard of area is obtained according to code area number and code-disc resolution ratio；
Then further according to the image center location of shooting and the location determination code of combination code section length and identification code and check code
The accurate angle in area.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
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| CN202310852524.2A CN116878549A (en) | 2018-05-10 | 2018-05-10 | Absolute encoder with higher error correction capability and working method thereof |
| CN201810444775.6A CN108592960B (en) | 2018-05-10 | 2018-05-10 | Absolute value encoder and working method thereof |
| CN202310852529.5A CN117288237A (en) | 2018-05-10 | 2018-05-10 | Absolute value encoder with higher decoding speed and working method thereof |
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| CN202310852529.5A Division CN117288237A (en) | 2018-05-10 | 2018-05-10 | Absolute value encoder with higher decoding speed and working method thereof |
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| CN201810444775.6A Active CN108592960B (en) | 2018-05-10 | 2018-05-10 | Absolute value encoder and working method thereof |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1190846A (en) * | 1966-06-06 | 1970-05-06 | Warner Swasey Co | Analog-to-Digital Code Converter |
| CN1493853A (en) * | 2003-10-10 | 2004-05-05 | 杨俊志 | Universal coding method of single loop absolute type angle coder |
| CN101153808A (en) * | 2007-09-19 | 2008-04-02 | 苏州一光仪器有限公司 | Single-code track absolute angle coded circle and encoder using the same |
| US20110044561A1 (en) * | 2006-08-18 | 2011-02-24 | Leica Geosystems Ag | Optoelectronic angle sensor and method for determining a rotational angle about an axis |
| CN103134532A (en) * | 2013-02-07 | 2013-06-05 | 大连民族学院 | Circumferential code channel coding and decoding method based on judgment to absolute position |
-
2018
- 2018-05-10 CN CN202310852524.2A patent/CN116878549A/en active Pending
- 2018-05-10 CN CN202310852529.5A patent/CN117288237A/en active Pending
- 2018-05-10 CN CN201810444775.6A patent/CN108592960B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1190846A (en) * | 1966-06-06 | 1970-05-06 | Warner Swasey Co | Analog-to-Digital Code Converter |
| CN1493853A (en) * | 2003-10-10 | 2004-05-05 | 杨俊志 | Universal coding method of single loop absolute type angle coder |
| US20110044561A1 (en) * | 2006-08-18 | 2011-02-24 | Leica Geosystems Ag | Optoelectronic angle sensor and method for determining a rotational angle about an axis |
| CN101153808A (en) * | 2007-09-19 | 2008-04-02 | 苏州一光仪器有限公司 | Single-code track absolute angle coded circle and encoder using the same |
| CN103134532A (en) * | 2013-02-07 | 2013-06-05 | 大连民族学院 | Circumferential code channel coding and decoding method based on judgment to absolute position |
Also Published As
| Publication number | Publication date |
|---|---|
| CN117288237A (en) | 2023-12-26 |
| CN108592960B (en) | 2023-07-21 |
| CN116878549A (en) | 2023-10-13 |
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