CN108981764A - A kind of rotating grating encoder rotating angle measurement apparatus and method - Google Patents
A kind of rotating grating encoder rotating angle measurement apparatus and method Download PDFInfo
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- G—PHYSICS
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- 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
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Abstract
A kind of rotating grating encoder rotating angle measurement apparatus, including the reflective gratings code-disc rotated by main shaft drives and central processing module, main shaft is fixed on the rear end face of reflective gratings code-disc, and the front end face of reflective gratings code-disc is equipped with absolute code channel, outer circumference surface is equipped with increment code channel；Outer light source module, optical amplifier module and high-speed image sampling module are equipped on the outside of the reflective gratings code-disc；The reflective gratings code-disc front end face is to be divided into 30 equal parts in a circumferential direction, the front of the reflective gratings code-disc front end face is equipped with 5 front light-sources, correspondingly, each front light-source is accordingly equipped with Amici prism and photoelectric sensor, and 5 front light-sources are evenly distributed in the front of reflective gratings code-disc front end face；Acquired image is delivered to central processing module by the high-speed image sampling module, and the photoelectric sensor converts optical signals to electric signal and is delivered to central processing module.The present invention improves the measurement accuracy of coding disk.
Description
Technical field
The present invention relates to encoder techniques fields, and in particular to a kind of rotating grating encoder rotating angle measurement apparatus and
Method.
Background technique
In recent decades, as domestic and international industry is grown rapidly, wherein encoder is wanted in the production of industrial automation
It asks higher and higher, while also promoting the fast development of encoder.Photoelectric encoder is towards high-precision, high score both at home and abroad now
Resolution, miniaturization, intelligent these main trend development.Wherein the miniaturization of encoder and high-precision are photoelectric encoder development
Two important trends.Traditional photoelectric encoder is largely divided into increment type and two kinds of absolute type.The advantages of incremental encoder
It is to be easily achieved miniaturization, structure is simple, the disadvantage is that data are easy to be lost after power down, and has accumulated error.And absolute type photoelectricity
Shaft-position encoder has fixed zero compared with increment type, and strong antijamming capability need not re-scale after power down, and no accumulation misses
The advantages that poor, therefore be widely applied.But the miniaturization of absolute type encoder is due to being scored the factors such as precision
Limitation, then develop slowly.
In conclusion rotary encoder from occur till now be always measuring study hot spot.Rotation for measurement is compiled
Code device is generally divided into increment type and absolute type, each have their own advantage and disadvantage of two ways, and how two ways is effectively combined always
It is that encoder field relevant expert scholar endeavours to solve the problems, such as.The miniaturization of encoder is realized in a word while guaranteeing to compile again
Code device precision, it is necessary to develop novel code-disc and new encoding measurement technology.
Summary of the invention
Present invention aims to overcome that the shortcomings that prior art and deficiency, provide a kind of rotating grating encoder rotation angle
Measuring device is spent, the volume of encoder is reduced in such a way that increment code channel and absolute code channel combine, along with macro micro- multiple
The structure of conjunction effectively improves the precision of encoder measurement.
To achieve the above object, The technical solution adopted by the invention is as follows:
A kind of rotating grating encoder rotating angle measurement apparatus, including the reflective gratings code-disc rotated by main shaft drives
And central processing module, main shaft are fixed on the rear end face of reflective gratings code-disc, the front end face of reflective gratings code-disc is equipped with exhausted
Increment code channel is equipped with to code channel, outer circumference surface, the absolute code channel uses gray encoding mode；
Outer light source module, optical amplifier module and high-speed image sampling module are equipped on the outside of the reflective gratings code-disc,
The outer light source module is radiated on increment code channel after issuing collimated light beam, and increment code channel is put after reflecting collimated light beam through optics
Big module reaches high-speed image sampling module, and high-speed image sampling module includes high-speed image sampling camera lens；
The reflective gratings code-disc front end face is to be divided into 30 equal parts in a circumferential direction, the reflective gratings code
The front of disk front end face is equipped with 5 front light-sources, and correspondingly, each front light-source is accordingly equipped with Amici prism and photoelectric sensing
Device, 5 front light-sources are evenly distributed in the front of reflective gratings code-disc front end face, and the front light-source issues light beam through dividing
For parallel radiation on absolute code channel, collimated light beam is reflexed to photoelectric sensor by absolute code channel after light prism；
Acquired image is delivered to central processing module by the high-speed image sampling module, and the photoelectric sensor will
Optical signal is converted to electric signal and is delivered to central processing module.
From the foregoing, it will be observed that apparatus of the present invention working principle are as follows: the outer light source module is radiated at increment after issuing collimated light beam
On code channel, increment code channel collimated light beam is reflected after through optical amplifier module reach high-speed image sampling module, the front light-source
Issuing light beam, for parallel radiation on absolute code channel, collimated light beam is reflexed to photoelectric sensor by absolute code channel after Amici prism；
Acquired image is delivered to central processing module by the high-speed image sampling module, and the photoelectric sensor turns optical signal
It is changed to electric signal and is delivered to central processing module, central processing module carries out data processing, and the central processing module passes through
The electric signal of 5 photoelectric sensors is analyzed to obtain binary value, the bright dark areas on coding disk is encoded using Gray code, is made
Only one numerical digit variation between its continuous code word is obtained, then central processing module corresponds to table in coding angle and searches binary system
It is worth corresponding angle value, obtains rotation integer numbers angle；The increment code channel subdivision graph that high-speed image sampling module is captured simultaneously
Picture calculates subdivision angle, and the addition of the two angles is finally obtained a high-precision rotation by processing conversion, is realized high
The measurement of micron order rotation angle.The present invention realizes high-precision level of confidentiality rotation in such a way that increment code channel and absolute code channel combine
The measurement of angle, since it is using single-code channel, so the radial dimension of coding disk will greatly reduce, while increment code channel
Increment subdivision mode improves the measurement accuracy of coding disk；Additionally by single-code channel coding staff on circumference outer ring code channel and coding disk
Formula can the influence by radial-play to reading be minimized, and then realize high stability measurement.
As an improvement of the present invention, the outer light source module includes outer light source and collimating mirror.
As an improvement of the present invention, the increment code channel of the reflective gratings code-disc volume alternate using light and shade striped
Code mode.
Further, the central processing module is FPGA.
The present invention also provides a kind of rotation angle measurement methods.
To achieve the above object, The technical solution adopted by the invention is as follows:
A kind of rotation angle measurement method using above-mentioned rotating grating encoder rotating angle measurement apparatus, including it is following
Step:
It is radiated on increment code channel after issuing collimated light beam using outer light source module, after increment code channel reflects collimated light beam
High-speed image sampling module is reached through optical amplifier module；
Issuing light beam after Amici prism using front light-source, parallel radiation is on absolute code channel, and absolute code channel is by collimated light beam
Reflex to photoelectric sensor；
Acquired image is delivered to central processing module by the high-speed image sampling module, and the photoelectric sensor will
Optical signal is converted to electric signal and is delivered to central processing module；
Central processing module obtains rotation integer numbers angle by being analyzed electric signal；
Central processing module to containing increment code channel image be decoded and operation after obtain rotation subdivision angle；
Rotation integer numbers angle is added to obtain accurate rotation angle with rotation subdivision angle.
As an improvement of the present invention, " central processing module is revolved the step by being analyzed electric signal
Turn integer angle " detailed process include following sub-step:
The state that photoelectric sensor obtains absolute code channel reflected light signal is denoted as 1, photoelectric sensor does not obtain absolute code
The state of road reflected light signal is denoted as 0；
Central processing module is established 5 obtained binary values of photoelectric sensor and is encoded correspondingly with rotation angle
Angle corresponds to table；
Central processing module is analyzed to obtain binary value by the electric signal to 5 photoelectric sensors；
Then central processing module corresponds to table in coding angle and searches the corresponding angle value α of binary value1, the α1As
Rotation integer numbers angle.
As an improvement of the present invention, " central processing module is decoded the step to containing increment code channel image
With obtained after operation rotation subdivision angle " detailed process include following sub-step:
The central processing module principle perfectly aligned according to each bar code of absolute code channel and each bar code of increment code channel
Judge increment bar code image corresponding with absolute barcode position at this time；
Central processing module obtains the left end in increment code channel image according to acquired increment code channel image schemes from high speed
As the nearest long striped n in the high-speed image sampling optical center of acquisition module；
The billet line between long striped n and the high-speed image sampling optical center of high-speed image sampling module is calculated
Quantity N；
Rotation subdivision angle [alpha] is calculated2, α2Value are as follows: α2=(12 °/X) * N,
Wherein, X increment code channel bar code corresponding to an absolute code channel bar code includes the number of billet line,
It is the billet line number for being included between the long striped of any two.
Compared with prior art, the invention has the following advantages that
The present invention realizes the measurement of high-precision level of confidentiality rotation angle degree in such a way that increment code channel and absolute code channel combine, by
In it using single-code channel, so the radial dimension of coding disk will greatly reduce, while the increment of increment code channel segments mode
Improve the measurement accuracy of coding disk；It can be by radial direction additionally by single-code channel coding mode on circumference outer ring code channel and coding disk
Influence of the play to reading is minimized, and then realizes the measurement of high stability.
Detailed description of the invention
Fig. 1 is the schematic diagram of rotating grating encoder rotating angle measurement apparatus of the present invention；
Fig. 2 is the side view of rotating grating encoder rotating angle measurement apparatus reflective gratings code-disc of the present invention；
Fig. 3 is that present invention coding angle corresponds to table；
Fig. 4 is the binary form diagram of the absolute code channel of reflective gratings code-disc of the present invention；
Fig. 5 is the decoded schematic diagram of increment code channel of the present invention；
Fig. 6 is the flow chart of rotation angle measurement method of the present invention.
Specific embodiment
To keep the purposes, technical schemes and advantages of the invention implemented clearer, below in conjunction in the embodiment of the present invention
Attached drawing the technical scheme of the present invention will be further described explanation, it is clear that described embodiment is only of the invention one
Section Example, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making
Every other embodiment obtained under the premise of creative work out, shall fall within the protection scope of the present invention.
Embodiment
Fig. 1 and Fig. 2, a kind of rotating grating encoder rotating angle measurement apparatus are please referred to, including is rotated by main shaft drives
Reflective gratings code-disc 1 and central processing module 4, main shaft 5 is fixed on the rear end face of reflective gratings code-disc 1, reflecting light
The front end face of grid code-disc 1 is equipped with absolute code channel 11, outer circumference surface is equipped with increment code channel 12, and the absolute code channel 11 uses Gray code
Coding mode；
Outer light source module 6, optical amplifier module 2 and high-speed image sampling mould are equipped on the outside of the reflective gratings code-disc 1
Block 3, the outer light source module 6 are radiated on increment code channel 12 after issuing collimated light beam, and increment code channel 12 reflects collimated light beam
High-speed image sampling module 3 is reached by optical amplifier module 2, high-speed image sampling module 3 includes COMS high-speed image sampling
Camera lens；
1 front end face of reflective gratings code-disc is to be divided into 30 equal parts in a circumferential direction, the reflective gratings
The front of 1 front end face of code-disc is equipped with 5 front light-sources 9, and correspondingly, each front light-source 9 is accordingly equipped with Amici prism 8 and light
Electric transducer 7,5 front light-sources 9 are evenly distributed in the front of 1 front end face of reflective gratings code-disc, and the front light-source 9 is sent out
For parallel radiation on absolute code channel 11, collimated light beam is reflexed to photoelectric sensing to light beam by absolute code channel 11 after Amici prism 8 out
Device 7；
Acquired image is delivered to central processing module 4, the photoelectric sensor by the high-speed image sampling module 3
7 convert optical signals to electric signal and are delivered to central processing module 4.
From the foregoing, it will be observed that apparatus of the present invention working principle are as follows: the outer light source module is radiated at increment after issuing collimated light beam
On code channel, increment code channel collimated light beam is reflected after through optical amplifier module reach high-speed image sampling module, the front light-source
Issuing light beam, for parallel radiation on absolute code channel, collimated light beam is reflexed to photoelectric sensor by absolute code channel after Amici prism；
Acquired image is delivered to central processing module by the high-speed image sampling module, and the photoelectric sensor turns optical signal
It is changed to electric signal and is delivered to central processing module, central processing module carries out data processing, and the central processing module passes through
The electric signal of 5 photoelectric sensors is analyzed to obtain binary value, absolute code channel binary representation is as shown in figure 4, use lattice
Thunder code encodes the bright dark areas on coding disk, so that only one numerical digit changes between its continuous code word, then centre
Reason module corresponds to table in coding angle and searches the corresponding angle value of binary value, and coding angle corresponds to table as shown in figure 3, being revolved
Turn integer angle；The increment code channel subdivision graph picture that high-speed image sampling module is captured simultaneously, calculates subdivision angle, passes through
The addition of the two angles is finally obtained a high-precision rotation by processing conversion, realizes the measurement of high-precision level of confidentiality rotation angle degree.
The present invention realizes the measurement of high-precision level of confidentiality rotation angle degree in such a way that increment code channel and absolute code channel combine, by
In it using single-code channel, so the radial dimension of coding disk will greatly reduce, while the increment of increment code channel segments mode
Improve the measurement accuracy of coding disk；It can be by radial direction additionally by single-code channel coding mode on circumference outer ring code channel and coding disk
Influence of the play to reading is minimized, and then realizes the measurement of high stability.
In the present embodiment, the outer light source module 6 includes outer light source 61 and collimating mirror 62, the light beam warp that outer light source projects
It crosses collimating mirror and switchs to collimated light beam.
In the present embodiment, the increment code channel 12 of the reflective gratings code-disc 1 coding staff alternate using light and shade striped
Formula.
In the present embodiment, the central processing module 4 is FPGA.
Please refer to Fig. 3 to Fig. 6, a kind of rotation angle survey using above-mentioned rotating grating encoder rotating angle measurement apparatus
Amount method, comprising the following steps:
S1. it is radiated on increment code channel after issuing collimated light beam using outer light source module, increment code channel is anti-by collimated light beam
High-speed image sampling module is reached through optical amplifier module after penetrating.
S2. issuing light beam using front light-source, for parallel radiation on absolute code channel, absolute code channel will be parallel after Amici prism
Light beam reflexes to photoelectric sensor.
S3. acquired image is delivered to central processing module, the photoelectric sensing by the high-speed image sampling module
Device converts optical signals to electric signal and is delivered to central processing module.
S4. central processing module obtains rotation integer numbers angle by being analyzed electric signal,
Referring to FIG. 4, specifically, the step " central processing module by electric signal is analyzed to obtain rotate it is whole
The detailed process of number angle " includes following sub-step:
S41. the state that photoelectric sensor obtains absolute code channel reflected light signal is denoted as 1, photoelectric sensor does not obtain absolutely
0 is denoted as to the state of code channel reflected light signal；
S42. central processing module establishes 5 obtained binary values of photoelectric sensor and rotation angle is one-to-one
Coding angle corresponds to table, please refers to Fig. 3；
S43. central processing module is analyzed to obtain binary value by the electric signal to 5 photoelectric sensors；
S44. then central processing module corresponds to table in coding angle and searches the corresponding angle value α of binary value1, the α1
As rotation integer numbers angle.
S5. central processing module to containing increment code channel image be decoded and operation after obtain rotation subdivision angle,
Referring to FIG. 5, specifically, " central processing module is decoded and transports to containing increment code channel image the step
Obtained after calculation rotation subdivision angle " detailed process include following sub-step:
S51. central processing module is perfectly aligned according to each bar code of absolute code channel and each bar code of increment code channel
Principle judges increment bar code image corresponding with absolute barcode position at this time；
S52. central processing module obtains the left end in increment code channel image from height according to acquired increment code channel image
The nearest long striped n in the high-speed image sampling optical center of fast image capture module；
S53. the billet between long striped n and the high-speed image sampling optical center of high-speed image sampling module is calculated
The quantity N of line；
S54. rotation subdivision angle [alpha] is calculated2, α2Value are as follows: α2=(12 °/X) * N,
Wherein, X increment code channel bar code corresponding to an absolute code channel bar code includes the number of billet line,
It is the billet line number for being included between the long striped of any two.
S6. rotation integer numbers angle is added to obtain accurate rotation angle, that is, rotation angle [alpha] with rotation subdivision angle
=α1+α2。
The present invention realizes the measurement of high-precision level of confidentiality rotation angle degree in such a way that increment code channel and absolute code channel combine, by
In it using single-code channel, so the radial dimension of coding disk will greatly reduce, while the increment of increment code channel segments mode
Improve the measurement accuracy of coding disk.
The above embodiment is a preferred embodiment of the present invention, but embodiments of the present invention are not by above-described embodiment
Limitation, other any changes, modifications, substitutions, combinations, simplifications made without departing from the spirit and principles of the present invention,
It should be equivalent substitute mode, be included within the scope of the present invention.
Claims (7)
1. a kind of rotating grating encoder rotating angle measurement apparatus, it is characterised in that: including the reflection rotated by main shaft drives
Formula grating encoder and central processing module, main shaft are fixed on the rear end face of reflective gratings code-disc, before reflective gratings code-disc
End face is equipped with absolute code channel, outer circumference surface is equipped with increment code channel, and the absolute code channel uses gray encoding mode；
Outer light source module, optical amplifier module and high-speed image sampling module are equipped on the outside of the reflective gratings code-disc, it is described
Outer light source module issue collimated light beam after be radiated on increment code channel, increment code channel collimated light beam is reflected after through optical amplifier mould
Block reaches high-speed image sampling module, and high-speed image sampling module includes high-speed image sampling camera lens；
The reflective gratings code-disc front end face is to be divided into 30 equal parts in a circumferential direction, before the reflective gratings code-disc
The front of end face is equipped with 5 front light-sources, and correspondingly, each front light-source is accordingly equipped with Amici prism and photoelectric sensor,
5 front light-sources are evenly distributed in the front of reflective gratings code-disc front end face, and the front light-source issues light beam through being divided
For parallel radiation on absolute code channel, collimated light beam is reflexed to photoelectric sensor by absolute code channel after prism；
Acquired image is delivered to central processing module by the high-speed image sampling module, and the photoelectric sensor believes light
It number is converted to electric signal and is delivered to central processing module.
2. rotating grating encoder rotating angle measurement apparatus according to claim 1, it is characterised in that: the outer light source
Module includes outer light source and collimating mirror.
3. rotating grating encoder rotating angle measurement apparatus according to claim 1, it is characterised in that: described reflective
The increment code channel of the grating encoder coding mode alternate using light and shade striped.
4. rotating grating encoder rotating angle measurement apparatus according to claim 1, it is characterised in that: the centre
Reason module is FPGA.
5. a kind of rotation angle using any rotating grating encoder rotating angle measurement apparatus of Claims 1-4 4 is surveyed
Amount method, it is characterised in that the following steps are included:
Using outer light source module issue collimated light beam after be radiated on increment code channel, increment code channel collimated light beam is reflected after through light
It learns amplification module and reaches high-speed image sampling module；
Issuing light beam using front light-source, for parallel radiation on absolute code channel, absolute code channel reflects collimated light beam after Amici prism
To photoelectric sensor；
Acquired image is delivered to central processing module by the high-speed image sampling module, and the photoelectric sensor believes light
It number is converted to electric signal and is delivered to central processing module；
Central processing module obtains rotation integer numbers angle by being analyzed electric signal；
Central processing module to containing increment code channel image be decoded and operation after obtain rotation subdivision angle；
Rotation integer numbers angle is added to obtain accurate rotation angle with rotation subdivision angle.
6. rotation angle measurement method according to claim 5, it is characterised in that: " central processing module is logical for the step
Cross and electric signal analyzed to obtain rotation integer numbers angle " detailed process include following sub-step:
The state that photoelectric sensor obtains absolute code channel reflected light signal is denoted as 1, it is anti-that photoelectric sensor does not obtain absolute code channel
The state for penetrating optical signal is denoted as 0；
Central processing module establishes 5 obtained binary values of photoelectric sensor and rotation angle encodes angle correspondingly
Corresponding table；
Central processing module is analyzed to obtain binary value by the electric signal to 5 photoelectric sensors；
Then central processing module corresponds to table in coding angle and searches the corresponding angle value α of binary value1, the α1As rotate
Integer angle.
7. rotation angle measurement method according to claim 5, it is characterised in that: the step " central processing module pair
Containing increment code channel image be decoded and obtained after operation rotation subdivision angle " detailed process include following sub-step:
Central processing module judges according to the perfectly aligned principle of each bar code of absolute code channel and each bar code of increment code channel
Increment bar code image corresponding with absolute barcode position at this time out；
Central processing module obtains the left end in increment code channel image according to acquired increment code channel image and adopts from high speed image
Collect the nearest long striped n in the high-speed image sampling optical center of module；
The quantity of the billet line between long striped n and the high-speed image sampling optical center of high-speed image sampling module is calculated
N；
Rotation subdivision angle [alpha] is calculated2, α2Value are as follows: α2=(12 °/X) * N,
Wherein, X increment code channel bar code corresponding to an absolute code channel bar code includes the number of billet line, be that is to say
The billet line number for being included between the long striped of any two.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109916340A (en) * | 2019-04-12 | 2019-06-21 | 广东工业大学 | Rotating grating encoder acquires measuring device |
| CN109990805A (en) * | 2019-04-12 | 2019-07-09 | 广东工业大学 | Rotary encoder |
| CN110006366A (en) * | 2019-03-25 | 2019-07-12 | 中国科学院长春光学精密机械与物理研究所 | A kind of angle displacement measuring device that image is reflective and its method |
| CN110608757A (en) * | 2019-08-12 | 2019-12-24 | 珠海市易迅科技有限公司 | Digital tape, coding device for digital tape and corresponding measuring method |
| CN114689094A (en) * | 2020-12-29 | 2022-07-01 | 财团法人工业技术研究院 | Reflective optical encoder |
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| CN109916340B (en) * | 2019-04-12 | 2021-01-26 | 广东工业大学 | Acquisition and measurement device of rotary grating encoder |
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| CN110608757A (en) * | 2019-08-12 | 2019-12-24 | 珠海市易迅科技有限公司 | Digital tape, coding device for digital tape and corresponding measuring method |
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