CN108801302A - A kind of reflective rotary encoder of high-precision dual track - Google Patents
A kind of reflective rotary encoder of high-precision dual track Download PDFInfo
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- CN108801302A CN108801302A CN201810393553.6A CN201810393553A CN108801302A CN 108801302 A CN108801302 A CN 108801302A CN 201810393553 A CN201810393553 A CN 201810393553A CN 108801302 A CN108801302 A CN 108801302A
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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
- G01D5/3473—Circular or rotary encoders
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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 invention discloses a kind of reflective rotary encoders of high-precision dual track, including shaft, light source, convex lens, coding disk, optical amplification element, image capture module, data processing module, the light source is in the front end of entire encoder system, it can emit beam, the light that source of parallel light is sent out may be implemented in the convex lens, the coding disk is installed with shaft by the way that shaft coupling is concentric, encoder can be achieved to rotate with shaft, the optical amplification element can realize the amplification of absolute code and incremental code to coding disk, described image acquisition module receives the coding information by the amplified code channel of optical amplification element, convert optical signal into electric signal simultaneously, it exports to data processing module, the data processing module carries out further calculation process to the transformed electric signal of image capture module, obtain the accurate information of coding angle.The present invention can effectively improve the precision and reliability of encoder, and simple in structure, easy to operate by macro micron composite structure.
Description
Technical field
The present invention relates to rotary encoder field more particularly to a kind of reflective rotary encoders of high-precision dual track.
Background technology
Angle measurement technique is one of high-accuracy measuring technique of forefront in modern optical sensors technology, in recent years its
Use in each field is also more and more extensive, and rotary encoder is as a kind of tool of accurate measurement angle displacement, in angle
And position fields of measurement has irreplaceable role, with small, light-weight, wide in variety, function is complete, and frequency response is high, point
Distinguish ability height, the features such as torque is small, and energy consumption is low, and performance is stablized, and reliable service life is long, in civilian elevator, numerically-controlled machine tool, machine
The fields such as people and servo motor are widely used.The application of rotary encoder with development to Chinese national economy, science and technology into
Step is of great significance with Defence business.
Traditional rotary encoder is generally divided into two kinds of absolute rotary encoder and incremental rotary encoder, absolute type
Although the absolute position that rotary encoder can be encoded, code channel is thick, and precision is not high enough, and incremental rotary encoder is smart
Although degree is higher than absolute rotary encoder, power down and rotation angle can lose when powering on, and while remeasuring must return
Origin brings the trouble used to user.
Therefore, the prior art requires further improvement and perfect.
Invention content
It is an object of the invention to overcome the deficiencies of the prior art and provide it is a kind of it is simple in structure, there is high-precision dicode
The reflective rotary encoder in road.
The purpose of the invention is achieved by the following technical solution：
A kind of reflective rotary encoder of high-precision dual track, the rotary encoder include mainly shaft, for generating light
The light source of line, by light ray parallel project convex lens, coding disk, for amplify coding optical amplification element, for acquisition work as
The image capture module of preceding coding and data processing module for calculating present rotation angel degree.The light source is in entire
The front end of encoder system simultaneously emits beam.The convex lens is arranged between light source and coding disk, the light that light source is sent out
The parallel injection of line.The coding disk is installed with shaft by the way that shaft coupling is concentric, realizes that encoder is rotated with shaft.The optics is put
Big element is arranged between coding disk and image capture module, realizes to the absolute code of coding disk and the amplification of incremental code.It is described
Image capture module receives the coding information by the amplified code channel of optical amplification element, while converting optical signal into telecommunications
Number, it exports to data processing module.The data processing module carries out the transformed electric signal of image capture module further
Calculation process obtains the accurate information of coding angle.
As the preferred embodiment of the present invention accuracy of identification, institute of the present invention are promoted in order to improve image recognition and collecting efficiency
Image capture module is stated to be acquired using CCD area array sensors or CMOS area array sensors.
As the preferred embodiment of the present invention, the coding disk uses reflective coding disk, and the light that light source is sent out is through convex lens
After mirror is parallel, finally received by image capture module after the reflection of coding disk code channel.
Preferred embodiment as the present invention makes its space availability ratio higher to simplify the structure design of rotary encoder,
The code channel of coding disk of the present invention is engraved at the ring-type of disk, can reduce the volume of coding disk.
As the preferred embodiment of the present invention, in order to improve the positional precision of encoder, the side of coding disk of the present invention
It is carved with a circle increment code channel and an absolute code channel of circle.
As the preferred embodiment of the present invention, the width of the single absolute code of the coding disk and single incremental code width phase
Together, or the geometry multiple of single incremental code width.
As the preferred embodiment of the present invention, the absolute code of the coding disk is encoded using binary system pseudo noise code.
As the preferred embodiment of the present invention, the incremental code of the coding disk is alternately made of dark bright fringes.
As the preferred embodiment of the present invention, described image acquisition module obtains a representative absolutely by being decoded to absolute code
The information of position, then further segmented by corresponding incremental code, and the two is combined, it obtains representing precise angle and position
The information set.
As the preferred embodiment of the present invention, in order to improve the autgmentability of rotary encoder, data processing of the present invention
Module is using one or more combinations in FPGA, 51 microcontrollers, STM32, DSP.
Working process and principle of the invention are：Light source emit beam planoconvex lens it is parallel after, by coding disk code channel
Analysis is finally decoded by image capture module reception after reflection, obtains location information.Due to being carved with simultaneously on coding disk
One circle increment code channel of lower alignment and an absolute code channel of circle, therefore can obtain two code channels on image capture module and be put by optics
The amplified image of big element, obtains the information for representing absolute position, then by corresponding by being decoded to absolute code
Incremental code further segment, and the two is combined, you can obtain representing the information of precise angle and position.The present invention also has
Simple in structure, easy to operate, easy the advantages of implementing.
Compared with prior art, the present invention has further the advantage that：
(1) the reflective rotary encoder of high-precision dual track provided by the present invention passes through macro micron composite structure, Ke Yiyou
Effect improves the precision and reliability of encoder, and simple in structure, easy to operate.
(2) the reflective rotary encoder of high-precision dual track provided by the present invention fully utilizes the thick fixed of absolute coding
The strong point of both high accuracy positionings of position and increment type coding, makes the present invention have positional precision height, high sensitivity, reliability
High, stable advantage.
(3) because on the disk for being engraved at the side annulus of coding disk, rather than overlooking, therefore the code channel of the present invention is
The coding disk size produced can be smaller than traditional encoder, and size is controllable, due to the reduction of the size of coding disk, so as to
So that the size of entire encoder is reduced, but precision aspect is more advantageous to due to the guarantee of macro micron composite structure
Encoder develops toward accurate and miniaturization.
Description of the drawings
Fig. 1 is the structural schematic diagram of the reflective rotary encoder of high-precision dual track provided by the present invention；
Fig. 2 is the schematic diagram that convex lens provided by the present invention realizes divergent beams horizontal infection；
Fig. 3 is coding dish structure provided by the present invention and code channel schematic diagram；
Fig. 4 is this coding schematic diagram provided by the present invention；
Fig. 5 is this image capture module acquisition schematic diagram provided by the present invention.
Label declaration in above-mentioned attached drawing：
1- shafts, 2- light sources, 3- convex lenses, 4- coding disks, 5- optical amplification elements, 6- head portrait acquisition modules, 7- data
Processing module, the absolute code channels of 41-, 411- dark fringe absolute codes, 412- bright fringes absolute codes, 42- increment code channels, 421- dark fringes
Incremental code, 422- bright fringes incremental codes, 43- acquire image, first dark fringe absolute code left margin of 431- origins, 432- acquisitions
First incremental code left margin in image, 433- acquire the incremental code left margin where picture centre line, and 434- is acquired in image
Heart line, 435- acquire the incremental code right margin where picture centre line, 436- pseudo noise code stripeds, and 437- is acquired first in image
A incremental code, the bright incremental codes of 438-, 439- acquire the incremental code where picture centre line, and 4300- acquires left picture boundary,
4301- acquires image right margin.
Specific implementation mode
To make the objectives, technical solutions, and advantages of the present invention clearer and more explicit, develop simultaneously embodiment pair referring to the drawings
The present invention is described further.
Embodiment 1：
As shown in Figure 1, the invention discloses a kind of reflective rotary encoder of high-precision dual track, including shaft 1, light source
2, convex lens 3, coding disk 4, optical amplification element 5, image capture module 6, data processing module 7, the light source 2 are in entire
The front end of encoder system can emit beam, and the convex lens 3 is placed between light source 2 and coding disk 4, may be implemented
The light that source of parallel light is sent out, the coding disk 4 is with shaft 1 by the concentric installation of shaft coupling, it can be achieved that encoder turns with shaft
Dynamic, the optical amplification element 5 is placed between coding disk 4 and image capture module 6 absolute code, it can be achieved that coding disk 4
With the amplification of incremental code, described image acquisition module 6 receives the coding information by 5 amplified code channel of optical amplification element, together
When convert optical signal into electric signal, output is to data processing module 7, and the data processing module 7 is to 6 turns of image capture module
Electric signal after changing carries out further calculation process, obtains the accurate information of coding angle.
Specific operation process is as follows：
Light source 2 emit beam planoconvex lens 3 it is parallel after, finally by Image Acquisition mould after the reflection of 4 code channel of coding disk
The reception of block 6 is decoded analysis, obtains location information.Since a circle increment code channel of consistency from top to bottom is carved on coding disk 4 simultaneously
Absolute code channel is enclosed with one, therefore two code channels can be obtained by 5 amplified figure of optical amplification element on image capture module 6
Picture obtains the information for representing absolute position by being decoded to absolute code, then further thin by corresponding incremental code
Point, and the two is combined, you can obtain representing the information of precise angle and position.
It is further used as preferred embodiment, the coding disk 4 is by the methods of etching on glass or metal base
A series of light and shade stripeds are obtained, the coding information of encoder is represented.
It is further used as preferred embodiment, the code channel of the coding disk 4 is engraved on a circle circumference of disk, rather than
On disc, the volume of coding disk can be greatly reduced.
It is further used as preferred embodiment, the coding disk 4 uses reflective code-disc, the light that light source 2 is sent out
After planoconvex lens 3 are parallel, finally received by image capture module 6 after the reflection of 4 code channel of coding disk.
It is further used as preferred embodiment, CCD area array sensors or CMOS may be used in described image acquisition module 6
Area array sensor is acquired.
Be further used as preferred embodiment, the data processing module 7 can be used FPGA, 51 microcontrollers, STM32,
DSP etc..
As shown in Fig. 2, convex lens 3 can realize parallel action to light that light source 2 is sent out so that the not Tongfang from light source 2
To the light transmitted by exporting parallel rays after convex lens 3, be conducive to subsequently can accurately carry out on coding disk 4 anti-
It penetrates, and is finally received by image capture module 6.
Fig. 3 is coding dish structure and the code channel schematic diagram of the present invention, when shaft 1 moves, the encoder code installed with one heart
Disk 4 can also follow shaft 1 to move, and have two different code channels on encoder code disc 4, and what is be located above is that represent encoder absolute
The absolute code channel 41 of position, underlying is the increment code channel 42 for representing encoder increment compensation error, wherein single absolute
The width of code must be of same size with single incremental code, or the individually geometry multiple of incremental code width, just can guarantee in this way
Code channel energy consistency from top to bottom facilitates subsequent position to calculate.
Fig. 4 is the coding schematic diagram of the present invention, this coding mode represents dark fringe using binary one, uses binary zero
Bright fringe is represented to be encoded.Since pseudo noise code has good random coded mode, can generate required for n scale codings
A series of pseudo-random sequences, it is different between these sequences, the absolute position of encoder can be represented with them.Therefore originally
The absolute code of invention is encoded using binary system pseudo noise code.Wherein absolute code channel 41 is by dark fringe absolute code 411 and bright wisp
Line absolute code 412 forms, and dark fringe absolute code 411 and 412 width of bright fringes absolute code are generally unequal, dark fringe absolute code
411 length contains the information of absolute position encoder, is decoded to the binary system pseudo noise code of dark fringe, can be obtained preliminary
Rough absolute position values.
Increment code channel 42 is dark bright alternate striped, is made of dark fringe incremental code 421 and bright fringes incremental code 422, and
Dark fringe incremental code 421 and 422 equivalent width of bright fringes incremental code, due to obtaining encoder position by absolute code channel 41
Absolute position, that is, the thick code encoded, what is at this moment obtained is rough position, it is also necessary to in increment code channel 42 include position believe
The dark fringe incremental code 421 of breath is finely divided, and makes the incremental error value less than single width of fringe can be by the side of pixel subdivision
Formula is calculated, finally to the location information of absolute code and incremental code subdivision offset summation, you can it is higher absolutely to obtain precision
To positional value.
In the coding mode of the present invention, the 42 loop coding period of increment code channel is T, and light and shade width of fringe is d, therefore
The overall circumference C of above-mentioned increment code channel 421=2 × T × d, because the width of fringe of increment code channel 42 and absolute code channel 41 is up and down
Alignment, so the absolutely overall circumference C of code channel 412=C1, and two code channels are paved with the coding disk 4 of whole circle encoder, therefore encode
The overall circumference C'=C of disk 42=C1。
Embodiment 2：
The present embodiment is the computational methods of the final coding site of the present invention, as shown in figure 5, being adopted for image capture module 6
Collect the schematic diagram of code channel information, image capture module 6 via 5 amplified code channel image information of optical amplification element to adopting
Collection, is obtained by calculation final coding site.
Since 6 acquisition range of image capture module is limited, so being carried out to code channel firstly the need of by optical amplification element 5
Amplification, note amplification factor are P, and the purpose of amplification is so that 6 the image collected of image capture module is always complete with one group
Pseudo noise code striped, because only that obtaining complete pseudo noise code striped just can obtain representing the information of absolute position.With r tables
The distance between each pixel unit for showing image capture module 6 indicates the picture that 6 horizontal direction of image capture module has with m
The number of element, d indicate the width of single incremental code (dark or bright) striped, then the amplification factor of optical amplification element 5.
Acquisition image 43 in Fig. 5 in box is to be imaged on Image Acquisition after optical amplifier 5 is amplified code channel
The image of module 6, that reflects the more specific location informations of current encoder, and being calculated by the position relationship to its inside can
To obtain final coding site, W is denoted as at a distance from origin.
It is above-mentioned it is known that the length of dark fringe absolute code contains the information of absolute position encoder, this sentences origin first
Dark fringe absolute code left margin 431 is that the initial baseline point of positional value is due to the effect amplified by optical amplification element 5
One group of complete pseudo noise code striped 436 can be obtained in acquisition image 43, at least to ensure to acquire left picture boundary
4300 is more to the left in pseudo noise code striped 436, and acquiring image right margin 4301 will be in pseudo noise code striped 436 to the right one
A bit.As a reference point to acquire picture centre line 434, the distance for finding out absolute position is namely equivalent to and asks origin first dark
Striped absolute code left margin 431 arrives the distance between acquisition picture centre line 434.Since incremental code and absolute code are consistencies from top to bottom
, so first incremental code 437 is also centainly complete, first incremental code left margin in note acquisition image in acquisition image
432 arrive the distance between first dark fringe absolute code left margin 431 of origin as S.Take the increment where acquisition picture centre line
Code 439 be to need the incremental code that is finely divided, calculates out of acquisition image first incremental code 437 to acquiring picture centre line institute
Incremental code 439 between include incremental code quantity (comprising acquisition image in first incremental code 437, do not include acquisition
Incremental code 439 where picture centre line), it is denoted as e, as in this figure, first incremental code 437 is schemed to acquisition in acquisition image
Between incremental code 439 where inconocenter line two are had altogether comprising first incremental code 437 in acquisition image and bright incremental code 438
Incremental code, herein e=2.Incremental code in note acquisition image where first incremental code left margin 432 to acquisition picture centre line
The distance between left margin 433 is L, can calculate L=e × d, and wherein d is the width of single incremental code (dark or bright) striped, i.e.,
Incremental code right margin 435 of the incremental code left margin 433 where with acquisition picture centre line in figure where acquisition picture centre line
The distance between.
S and L are added up at this time, are the absolute location informations that absolute code coding represents, apart from final coding site W
It has been be sufficiently close to that, in order to obtain more accurate location information, needed to carry out carefully the incremental code 439 where collection picture centre line
Point.It only needs to find out at this time between the incremental code left margin 433 where acquiring picture centre line and acquisition picture centre line 434
Distance, delta d, the absolute location information summation that the absolute code coding added up with the S and L being the previously calculated represents, you can pass through
Macro micro- compound method obtains final high-precision coding site distance W.
Count the 6 number of pixels b of image capture module shared by the length of Δ d, it is known that above-mentioned optical amplification element 5 is to striped
Be amplified, amplification factor P, then the corresponding actual range of a pixel become r/P (r indicate image capture module 6 it is every
The distance between a pixel unit), it is possible to the value of Δ d is calculated,
Final high-precision coding site distance W=S+L+ Δs d.
Since code-disc is round, obtained high-precision coding site distance W is actually that one section of circular arc on circumference is long, is
The angle, θ encoded can use circular arc long divided by the radius of code-disc, that is, pass through calculatingThe angle, θ encoded.
The above embodiment is a preferred embodiment of the present invention, but embodiments of the present invention are not by above-described embodiment
Limitation, it is other it is any without departing from the spirit and principles of the present invention made by changes, modifications, substitutions, combinations, simplifications,
Equivalent substitute mode is should be, is included within the scope of the present invention.
Claims (10)
1. a kind of reflective rotary encoder of high-precision dual track, which is characterized in that the light including shaft, for generating light
Source, by light ray parallel project convex lens, coding disk, for amplify encode optical amplification element, for acquiring present encoding
Image capture module and data processing module for calculating present rotation angel degree；The light source is in entire encoder
The front end of system simultaneously emits beam；The convex lens is arranged between light source and coding disk, the light ray parallel that light source is sent out
It projects；The coding disk is installed with shaft by the way that shaft coupling is concentric, realizes that encoder is rotated with shaft；The optical amplification element
It is arranged between coding disk and image capture module, realizes to the absolute code of coding disk and the amplification of incremental code；Described image is adopted
Collect coding information of the module reception by the amplified code channel of optical amplification element, while converting optical signal into electric signal, exports
To data processing module；The data processing module carries out at further operation the transformed electric signal of image capture module
Reason obtains the accurate information of coding angle.
2. the reflective rotary encoder of high-precision dual track according to claim 1, which is characterized in that described image acquires
Module is acquired using CCD area array sensors or CMOS area array sensors.
3. the reflective rotary encoder of high-precision dual track according to claim 1, which is characterized in that the coding disk is adopted
With reflective coding disk, after light planoconvex lens that light source is sent out are parallel, finally by image after the reflection of coding disk code channel
Acquisition module receives.
4. the reflective rotary encoder of high-precision dual track according to claim 1, which is characterized in that the coding disk
Code channel is engraved at the ring-type of disk, can reduce the volume of coding disk.
5. the reflective rotary encoder of high-precision dual track according to claim 1, which is characterized in that the coding disk
It is carved with a circle increment code channel and an absolute code channel of circle in side.
6. the reflective rotary encoder of high-precision dual track according to claim 1, which is characterized in that the coding disk
The width of single absolute code and single incremental code are of same size, or the individually geometry multiple of incremental code width.
7. the reflective rotary encoder of high-precision dual track according to claim 1, which is characterized in that the coding disk
Absolute code is encoded using binary system pseudo noise code.
8. the reflective rotary encoder of high-precision dual track according to claim 1, which is characterized in that the coding disk
Incremental code is alternately made of dark bright fringes.
9. the reflective rotary encoder of high-precision dual track according to claim 1, which is characterized in that described image acquires
Module obtains the information for representing absolute position by being decoded to absolute code, then further thin by corresponding incremental code
Point, and the two is combined, obtain the information for representing precise angle and position.
10. the reflective rotary encoder of high-precision dual track according to claim 1, which is characterized in that at the data
Module is managed using one or more combinations in FPGA, 51 microcontrollers, STM32, DSP.
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Cited By (4)
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| CN110686712A (en) * | 2019-11-22 | 2020-01-14 | 中国科学院长春光学精密机械与物理研究所 | Reflective image photoelectric encoder |
| CN112985467A (en) * | 2019-12-16 | 2021-06-18 | 西克斯特格曼有限公司 | Encoder apparatus and method for determining kinematic variables |
| CN113091780A (en) * | 2021-03-09 | 2021-07-09 | 珠海格力电器股份有限公司 | Code wheel structure, encoder comprising same and servo motor |
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