CN108592960B - Absolute value encoder and working method thereof - Google Patents
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- CN108592960B CN108592960B CN201810444775.6A CN201810444775A CN108592960B CN 108592960 B CN108592960 B CN 108592960B CN 201810444775 A CN201810444775 A CN 201810444775A CN 108592960 B CN108592960 B CN 108592960B
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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 invention relates to an absolute value encoder and a working method thereof, wherein the absolute value encoder comprises: the coding disc is provided with a plurality of independent code areas which are uniformly distributed on the code channels; the code region comprises an identification code and is positioned at the front end or the rear end of the code region. The absolute value encoder and the corresponding encoding and decoding method thereof provided by the invention have the advantages that the encoding mode is simple, the implementation is easy, the manufacturing difficulty of the code disc is reduced, the decoding is carried out by taking the code area as a unit, the decoding speed is greatly improved, the use of the adjustment code and the check code improves the error correction capability, and the whole decoding process is quick and accurate.
Description
Technical Field
The invention relates to an absolute value encoder and a working method thereof.
Background
Rotary encoders are industrially important sensors for mechanical position angle, length, speed feedback and participation in control. According to the angle detection principle, the encoder can be divided into an optical type, a magnetic type, an induction type and a capacitance type, and according to the scale method and the signal output form, the encoder can be divided into an increment value encoder, an absolute value encoder and an absolute value multi-circle encoder.
Incremental encoders are a relative change in position information, known as "relative" calculation of the increase and decrease of a signal from one point to another, which requires uninterrupted counting of subsequent devices, since each time the data is not independent, but depends on previous readings, errors due to previous data being subject to power outage and interference cannot be determined, resulting in error accumulation. The summary is: 1. a power failure problem; 2. signal anti-interference problem; 3. the problem of resource utilization of the subsequent device, especially the high resolution encoder, is that the subsequent device tracks the samples throughout.
Based on the above-mentioned shortcomings of the increment type, an absolute working mode is invented, which means that after the equipment is initialized, a zero point is determined, all position information is the absolute position of the zero point, the absolute position information is directly read without uninterrupted counting of the follow-up equipment, and for errors possibly generated by power failure and interference, the error accumulation is not caused because each reading is independent and is not influenced by the previous, and the absolute working mode is called as the absolute working mode of the receiving equipment.
In fact, the "absolute mode of operation" of the receiving device is confused with the "absolute mode" of the absolute value encoder, which is not a concept at all with the "absolute encoding" of the absolute value encoder, and which has the possibility of counting errors and accumulation errors, failure of the counting means to supply power, failure of the counting means to respond at high speed, etc.
The absolute value encoder means that after the encoding is generated, all the positions in the range of the encoder are determined in the encoder in an 'absolute' mode, each position is independent and unique, each data reading in and out of the encoder is independent of the previous data reading, and no accumulated calculation of the 'count' and the previous reading exists in the encoder or the outside of the encoder. The definition of a true absolute encoder therefore refers to the absolute correspondence of the encoded position to all positions within the range, independent, unique absolute encoding independent of the internal and external count accumulation.
In view of the above requirements of applications with high speed, security, etc., it is preferable to use absolute value encoders in the true sense, where all positions are independent, unique, absolute, to ensure absolute reliability and high speed accuracy of data. Under the condition, the invention provides an absolute value coding and decoding method with high decoding speed and strong anti-interference capability.
Disclosure of Invention
The invention aims to provide an absolute value encoder and a working method thereof.
In order to solve the above technical problem, the present invention provides an absolute value encoder, comprising: the coding disc is provided with a plurality of independent code areas which are uniformly distributed on the code channels; the code region comprises an identification code and is positioned at the front end or the rear end of the code region.
Further, the identification code comprises a single code or a combination of bar code sequences.
Further, each code region has the same length and is suitable for mutual identification; and each code region is independent and unique, so that the method is suitable for directly positioning and identifying the current position.
Further, the code region further includes a data code located at a rear side of the identification code, a plurality of check bits, and adjustment bits.
Further, the data code is independent and unique and is suitable for directly locating the current position; and the data codes consist of continuous codes with fixed length or are divided into two groups by check codes; wherein the check code is adapted to check part or all of the data code.
Further, the adjustment bits are adapted to adjust the consistency of the light transmissive or light opaque properties of the identification code.
Further, the check code is adapted to take the form of a complement.
In still another aspect, the present invention further provides a working method of the absolute value encoder, including an encoding method and a decoding method.
Further, the encoding method includes:
the coding disc is sequentially provided with a plurality of code areas according to a certain rule and the initial position of the first code area is set; wherein the method comprises the steps of
The code area comprises an identification code and a data code, wherein the identification code is positioned at the front end or the rear end of the data code;
the data codes are divided by at least one check code or adjustment code to obtain a plurality of groups of data codes, the code conversion system corresponding to the binary system in each group of data codes is determined, and continuous periods are sequentially carried out on the code disc to realize coding.
Further, the decoding method includes:
locating all the identification codes in the image signal, converting binary system in a plurality of groups of data codes in a code area into corresponding decimal system numbers, and converting the corresponding decimal system into code area numbers through corresponding code conversion system;
obtaining an approximate angle of the code region according to the code region number and the code disc resolution;
and then determining the precise angle of the code region according to the central position of the shot image and the length of the code region and the positions of the identification code and the check code.
The absolute value encoder and the corresponding encoding and decoding method thereof have the advantages that the encoding mode is simple and easy to realize, the manufacturing difficulty of the code disc is reduced, the decoding is carried out by taking the code area as a unit, the decoding speed is greatly improved, the error correction capability is improved by using the adjusting code and the checking code, and the whole decoding process is quick and accurate.
Drawings
The invention will be further described with reference to the drawings and examples.
FIG. 1 is a schematic diagram of the working principle of an absolute encoder of the present invention;
FIG. 2 (a) is a schematic diagram of the encoding method of the absolute value encoder of the present invention in code regions;
FIG. 2 (b) is a diagram II of the encoding method of the absolute value encoder of the present invention in code regions;
fig. 3 is a schematic diagram of an encoding method of an absolute value encoder according to the present invention in units of code regions.
In the figure, a light source 1, a code wheel 2, a CCD3, and lenses 41, 42.
Detailed Description
The invention will now be described in further detail with reference to the accompanying drawings. The drawings are simplified schematic representations which merely illustrate the basic structure of the invention and therefore show only the structures which are relevant to the invention.
Example 1
As shown in fig. 1, the present embodiment provides an absolute value encoder with simple operation, small calculation amount, high measurement speed, low hardware cost and high anti-interference capability, which includes: the coding disc is sequentially provided with a light transmission code and an opaque code according to a certain rule, and the light transmission code and the opaque code have various widths; wherein, a single code (or combination of bar code sequences) with a fixed width is used as an identification code, a code area is arranged between the two identification codes, the lengths of the code areas are equal, and the bar code combination mode in each code area is unique.
The identification code may be located at the front end or the rear end of the data code, and in the embodiment of the present application, the front end is taken as an example.
In this embodiment, each code region is independently unique in units of code regions, has the same length, and may be defined as 20 in terms of width data bits (which may be simply referred to as width).
In this embodiment, the code area includes an identification code, a data code, a plurality of check bits, a plurality of adjustment bits, and more mutual information, thereby increasing error correction capability.
In this embodiment, the identification code may be a single code with a unique specific width or a combination of a plurality of specific code sequences, so as to improve the uniqueness of the identification code and reduce the difficulty of identification.
In this embodiment, the check bits are used to check part or all of the data codes, thereby improving the error correction capability.
In this embodiment, the adjustment bits are used to adjust the consistency of the light-transmissive or light-opaque properties of the identification code.
In this embodiment, adjacent code regions can mutually assist in identifying codes, so as to improve error correction capability; and code recognition can be performed across code regions, so that the code recognition speed and the efficiency are improved.
In this embodiment, the check bit adopts a complementary code form, so as to control the width of the data code and reduce the difficulty of code reading.
Example 2
On the basis of embodiment 1, this embodiment 2 also provides an operation method of the absolute value encoder, including an encoding method and a decoding method.
The encoding method comprises the following steps: the coding disc is sequentially provided with a plurality of code areas according to a certain rule and the initial position of the first code area is set; the code area comprises an identification code and a data code, wherein the identification code is positioned at the front end or the rear end of the data code; the data codes are divided by at least one check code or adjustment code to obtain a plurality of groups of data codes, the code conversion system corresponding to the binary system in each group of data codes is determined, and continuous periods are sequentially carried out on the code disc to realize coding.
In this embodiment, two groups are taken as an example, that is, the data codes are divided into two groups by a check code, and code conversion system corresponding to the binary system in the first group of data codes is determined, and code conversion system corresponding to the binary system in the second group of data codes is sequentially performed on consecutive periods on the encoding disc to implement encoding.
Specifically, referring to fig. 2 (a) and fig. 2 (b), the encoding method of the absolute value encoder provided in this embodiment includes: the coding disc is sequentially provided with a light transmission code and an opaque code according to a certain rule, and the light transmission code and the opaque code have various widths; wherein, a single code (or combination of bar code sequences) with a fixed width is used as an identification code, a code area is arranged between the two identification codes, the lengths of the code areas are equal, and the bar code combination mode in each code area is unique.
The width of the transparent code and the width of the opaque code are adjusted by the check code and the adjustment code to be 1:2:3:6, wherein the identification code is a 1+6 bright-dark bar code combination, in order to control the width of the data code, the data code is divided into two groups, the check code is added in the middle, the width data bits of the two groups of data codes are 1+4 and 4, in order to control the width of the data bits, the binary corresponding code conversion system ranges of the representative data are selected to be 2-14 and 1-14 respectively, the total width of the bright-dark bar codes of each code area is 20, on a 360-degree coding disc, the method can be used for 13×14=182 total 182 periods, 180 continuous periods are sequentially selected, and if the data code combination is more refined, the bit number of the data code combination is only increased (namely the binary corresponding code conversion system range is increased).
The decoding method comprises the following steps: based on the image signal measured by CCD, all the identification codes in the image signal are positioned, the current code area is positioned according to the center position of the image signal, signal matching is not needed, and the actual position can be directly calculated according to the data code combination of the current code area. The current precise location may be determined based on the identification code center location.
Specifically, the decoding method includes: locating all the identification codes in the image signal, converting binary system in a plurality of groups of data codes in a code area into corresponding decimal system numbers, and converting the corresponding decimal system into code area numbers through corresponding code conversion system; obtaining an approximate angle of the code region according to the code region number and the code disc resolution; and then determining the precise angle of the code region according to the central position of the image shot by the CCD and the length of the code region and the positions of the identification code and the check code.
Taking fig. 3 as an example, a decoding method of the absolute value encoder of the present embodiment includes: as seen in fig. 3, the binary data bits of the first code region (left code region) are converted into decimal numbers of 5, 10, respectively; the binary data bits of the second code region (the right code region) are converted into decimal numbers of 10 and 4 (continuous code regions are arranged between the two code regions and are not shown here), then the corresponding decimal numbers are converted into code region numbers through corresponding code conversion system, a calculation formula (A-X) X N+B=F is defined, the code regions with the decimal values of 2 and 1 of the data codes are used as the initial positions of all the code regions, and then the code region numbers can be calculated through the formula; wherein in the formula, a represents a decimal number corresponding to the first group of data codes, B represents a decimal number corresponding to the second group of data codes, X represents a decimal start value corresponding to the data codes, and B represents a value of the code conversion system, taking fig. 3 as an example, the first code region (5-2) ×14+10=52 and the second code region (10-2) ×14+4=116. Since 180 periods are chosen, each period represents 2 degrees (resolution), the approximate position 104, 232 degrees of the current two code regions can be obtained. Then according to the shot image center position and combining the code area length 20 and the positions of the identification code and the check bit, the present relative accurate positions can be respectively deduced, and the calculated relative accurate positions are integrated into the final result.
The coding and decoding method of the absolute value encoder is simple and clear in coding mode, easy to realize, capable of reducing manufacturing difficulty of the code disc, capable of greatly improving identification accuracy of the identification code by using a single code with a unique specific width or a combination of a plurality of specific code sequences during decoding, and capable of increasing identification efficiency of the code in the identification process and reducing occurrence probability of the error code due to the fact that the code in the code area is only fixed in a plurality of types and has a certain proportion relation with the identification code. Finally, as the combination mode of the bright and dark bar codes in each code area is unique, the position of the code disc can be directly positioned only by correctly identifying the arrangement mode of the bar codes in the target area, bar code matching is not needed, the calculated amount when searching the target point position is greatly reduced, the CPU utilization rate of a chip is reduced, and the measuring speed is improved. And the check bit and the adjustment bit are used, so that the error correction capability of the bar code is greatly improved.
With the above-described preferred embodiments according to the present invention as an illustration, the above-described descriptions can be used by persons skilled in the relevant art to make various changes and modifications without departing from the scope of the technical idea of the present invention. The technical scope of the present invention is not limited to the description, but must be determined according to the scope of claims.
Claims (1)
1. An absolute value encoder operating method, including an encoding method and a decoding method, is characterized in that,
the encoding method comprises the following steps:
the coding disc is sequentially provided with a plurality of code areas according to a certain rule and the initial position of the first code area is set; wherein the method comprises the steps of
The code area comprises an identification code and a data code, wherein the identification code is positioned at the front end or the rear end of the data code;
dividing the middle of the data codes by at least one check code or adjustment code to obtain a plurality of groups of data codes, determining the code conversion system corresponding to the binary system in each group of data codes, and sequentially encoding continuous periods on the encoding disk to realize encoding;
the decoding method comprises the following steps:
locating all the identification codes in the image signal, converting binary system in a plurality of groups of data codes in a code area into corresponding decimal system numbers, and converting the corresponding decimal system into code area numbers through corresponding code conversion system;
obtaining an approximate angle of the code region according to the code region number and the code disc resolution;
and then determining the precise angle of the code region according to the central position of the shot image and the length of the code region and the positions of the identification code and the check code.
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| CN202310852529.5A CN117288237A (en) | 2018-05-10 | 2018-05-10 | Absolute value encoder with higher decoding speed and working method thereof |
| CN201810444775.6A CN108592960B (en) | 2018-05-10 | 2018-05-10 | Absolute value encoder and working method thereof |
| CN202310852524.2A CN116878549A (en) | 2018-05-10 | 2018-05-10 | Absolute encoder with higher error correction capability 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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| Publication number | Priority date | Publication date | Assignee | Title |
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| CA932832A (en) * | 1966-06-06 | 1973-08-28 | The Warner And Swasey Company | Analog-to-digital converter |
| CN1264001C (en) * | 2003-10-10 | 2006-07-12 | 杨俊志 | Universal coding method of single loop absolute type angle coder |
| EP1890113A1 (en) * | 2006-08-18 | 2008-02-20 | Leica Geosystems AG | Optoelectronic angle sensor and method for determining a rotation angle around an axis |
| CN100476366C (en) * | 2007-09-19 | 2009-04-08 | 苏州一光仪器有限公司 | Single-code track absolute angle coded circle and encoder using the same |
| CN103134532B (en) * | 2013-02-07 | 2015-01-21 | 大连民族学院 | Circumferential code channel coding and decoding method based on judgment to absolute position |
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Denomination of invention: Absolute value encoder and its working method Granted publication date: 20230721 Pledgee: Bank of Jiangsu Co.,Ltd. Changzhou Branch Pledgor: CHANGZHOU XINRUIDE INSTRUMENT Co.,Ltd. Registration number: Y2024980031195 |