CN109029513A - A kind of individual pen absolute encoder is anti-interference and the Subdividing Processing method of noise - Google Patents
A kind of individual pen absolute encoder is anti-interference and the Subdividing Processing method of noise Download PDFInfo
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- CN109029513A CN109029513A CN201810425903.2A CN201810425903A CN109029513A CN 109029513 A CN109029513 A CN 109029513A CN 201810425903 A CN201810425903 A CN 201810425903A CN 109029513 A CN109029513 A CN 109029513A
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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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Abstract
The invention discloses a kind of individual pen absolute encoder is anti-interference and the Subdividing Processing method of noise.Respective pulse center is estimated using centroid algorithm to several coding disk picture engraving data in CCD observation scope first, it is constructed patch matrix by these pulse center positions again and these are found out by the method for matrix decomposition portrays line group and respectively segment weight, so that being disturbed the portray line group big with noise pollution distributes lower weight, being disturbed, which influences small line group of portraying, distributes greater weight to improve overall measurement accuracy.The present invention has the advantages that precision is high, anti-interference, antimierophonic, is very suitable to use on the precision angles instruments such as the electronic theodolite, total station (single-code channel absolute addressing mode) of the operation under bad working environments environment for a long time.
Description
Technical field
The invention belongs to technical field of electro-optical measurement, in particular to a kind of individual pen absolute encoder is anti-interference and noise
Subdividing Processing method.
Background technique
Individual pen absolute encoder is mainly by portions such as shafting, light source, individual pen absolute coding disk, CCD read head and measuring circuit plates
Part and algorithm software are constituted, and specific measurement scheme is: with the rotation of shafting, the incident light of light source transmitting is transmitted through coding degree
Coding light and shade hot spot striped containing angle information is simultaneously irradiated on line array CCD photosurface by disk, then by signal processing circuit board
CCD clock signal is sent to drive CCD to work, while acquisition projects the code-disc light and shade stripe information on CCD photosurface and leads to
Cross the algorithm software processing final output Angle Information operated in measuring circuit plate.Wherein influence the key factor of measurement accuracy
First is that electronic fine-grained algorithm.Traditional electronic fine-grained method generally can be divided into 2 kinds: hardware subdivision and digital subdividing.
Hardware subdivision higher cost and is difficult to realize higher part due to often designing excessively bulky complex using hardware circuit
Several subdivisions.Digital subdividing method is the divided method mainly used at present, has the advantages that precision is high, is easily achieved, common
Such as interpolating subdivision, binaryzation method, mass center close classification.Although interpolation method and binaryzation method realize that simple but precision is lower；
Centroid method subdivision accuracy is higher but (such as coding disk is by dust in air when CCD other pixel signals are disturbed and collapse
Grain pollution or measuring circuit by extraneous strong-electromagnetic field interference meeting so that photosignal quality declines to a great extent) it is easy to appear " double
Wave crest " phenomenon is to seriously affect accuracy of measurement.It is wanted it is not difficult to find out that traditional divided method or arithmetic accuracy are difficult to meet
It asks or larger by such environmental effects, anti-interference, the antimierophonic adaptability of algorithm is insufficient.
Summary of the invention
In order to solve the technical issues of above-mentioned background technique proposes, the present invention is intended to provide a kind of individual pen absolute encoder is anti-
The Subdividing Processing method of interference and noise improves electronic fine-grained anti-interference, noise resisting ability and precision.
In order to achieve the above technical purposes, the technical solution of the present invention is as follows:
A kind of individual pen absolute encoder is anti-interference and the Subdividing Processing method of noise, comprising the following steps:
(1) line group light and shade striped data are portrayed on CCD read head acquisition individual pen absolute coding disk, and is stored in measuring circuit plate
In；
(2) line group light and shade striped data are portrayed according to selection, calculates every using centroid method and portrays line centre bit confidence
Breath, building subdivision calculation matrix, and feature decomposition is carried out to the matrix, find out the subdivision weight for respectively portraying line group；
(3) subdivision value is gone out according to subdivision weight calculation.
Further, in step (2), wire clamp angle η is portrayed by following formula calculating, portrays line average headway φ and with pixel
Line average headway L is portrayed for unit:
In above formula, D is that coding disk portrays line central diameter, and M is the number of lines of portraying on coding disk, and W is CCD pixel width；
Using coding disk physical centre point as origin O, detection line is that the longitudinal axis establishes plane right-angle coordinate, is with detection line
The heart respectively chosen toward two sides it is N number of portray line group, if CCD linear array and the coordinate system longitudinal axis have an intersection point A, while each groove group chosen
Center line and the intersection point of CCD linear array are EiAnd E-i, i=1,2 ..., N, " i " and "-i " respectively indicates portraying for detection line two sides
Line；Using centroid method, E is calculated according to formula (1)iAnd E-iAbscissaWith
In above formula, PiThe sampled value of line pixel, G are portrayed for i-thiPosition of the line pixel in CCD is portrayed for i-th to compile
Number.
Further, in step (2), as N < < M, ∠ E-iOEiDiagonal line and CCD linear array intersection point eiCross
CoordinateIt is found out by following formula approximation:
To any i-th of subdivision position eiWith j-th of subdivision position ejSolve mutual subdivision distance aij:
Enable sij=1-aij,0≤sij< 1, by N × N number of sijBuilding subdivision calculation matrix S:
BecauseMatrix S positive definite, so certainly existing maximum model's card value | λ |maxAnd its corresponding feature
Vector ξ=(ζ1,...,ζN), so that:
|λ|maxξ=STξ
Above formula is unfolded, is obtained: | λ |maxζi=ζ1s1i+ζ2s2i+...+ζNsNi, i=1 ..., N then segment weight αi:
Further, in step (3), according to subdivision weight αiThe abscissa X of elaborate division by calculation position EE:
Further, in step (3), according to subdivision weight αiElaborate division by calculation angle θ:
In above formula, XAFor the abscissa of CCD linear array and coordinate system longitudinal axis intersection point A.
By adopting the above technical scheme bring the utility model has the advantages that
The present invention using weighting method according to it is a plurality of portray the degree that line is disturbed distribute automatically respectively segment weight so that by
The line of portraying of interference and noise pollution greatly distributes lower weight, is disturbed small line of portraying and distributes greater weight to improve entirety
Measurement accuracy.In addition, the present invention is easily realized by software programming, complicated peripheral circuit is not needed.
Detailed description of the invention
Fig. 1 is basic flow chart of the invention；
Fig. 2 is the principle of the present invention schematic diagram.
Specific embodiment
Below with reference to attached drawing, technical solution of the present invention is described in detail.
A kind of individual pen absolute encoder is anti-interference and the Subdividing Processing method of noise, as shown in Figure 1, steps are as follows.
Line group light and shade striped data are portrayed on step 1:CCD read head acquisition individual pen absolute coding disk, and are stored in measuring circuit
In plate；
Step 2: line group light and shade striped data being portrayed according to selection, every is calculated using centroid method and portrays line center
Information, building subdivision calculation matrix, and feature decomposition is carried out to the matrix, find out the subdivision weight for respectively portraying line group；
Step 3: subdivision value is gone out according to subdivision weight calculation.
Two kinds of differences portray line width on encoder its coding disk that the present invention is studied, and each portray center to each other
Away from equal, what ccd sensor was observed portrays line after photoelectric conversion, shaping amplification and sampling by operating in measuring circuit plate
On processing software identify the relative angular displacement of one group of code-disc groove, to realize high-precision angle sorting, principle is such as
Shown in Fig. 2.
Assuming that code-disc groove central diameter is D, and code-disc circumference M equal part can be acquired groove angle η, groove by shared M groove
Average headway φ, φ is calculated into the groove average headway L as unit of pixel divided by CCD pixel width W, is given by:
Using coding disk physical centre point O as origin, detection line is that y-axis establishes rectangular coordinate system, past centered on detection line
Two sides respectively choose it is several portray line group, the thick straight line C of black is CCD line array sensor in figure, and the line and y-axis have an intersection point to be denoted as A
Its coordinate of point is denoted as XA, while the line is encoded to " 1001 " with line group (such as Fig. 2, detection line symmetry respectively choose 2 groups) is portrayed
Center line OL-2、OL-1、OL1、OL2E is from left to right met at respectively-2、E-1、E1、E2Point.Using " centroid method ", intersection point can be calculated
E-2、E-1、E1And E2Coordinate, draw lines centre coordinate at once.
Assuming that choosing detection line, each side N groove is as input, and E point is by ∠ E in Fig. 1-1OE1Diagonal line with
The intersection point e of CCD1、…、∠E-NOENThe intersection point e of diagonal line and CCDNCounted weighted average location, when N is much smaller than M, eiIt is horizontal
Coordinate can be found out by following formula approximation:
To any i-th of subdivision position eiWith j-th of subdivision position ejIt finds out and segments distance each other:
Enable sij=1-aij,0≤sij< 1,
By N × N number of sijConstitute patch matrix S:
BecauseS positive definite, so certainly existing a maximum norm characteristic value | λ |maxAnd its character pair vector ξ
=(ζ1,...,ζN), so that:
|λ|maxξ=STξ
Above formula is unfolded, is obtained: | λ |maxζk=ζ1s1k+ζ2s2k+...+ζNsNk, k=1 ..., N
Finally respectively portray group a subdivision weight:
The then estimation of the subdivision position E based on weighting method are as follows:
The subdivision angle for weighting output is writeable are as follows:
The above examples only illustrate the technical idea of the present invention, and this does not limit the scope of protection of the present invention, all
According to the technical idea provided by the invention, any changes made on the basis of the technical scheme each falls within the scope of the present invention
Within.
Claims (5)
1. a kind of individual pen absolute encoder is anti-interference and the Subdividing Processing method of noise, which comprises the following steps:
(1) line group light and shade striped data are portrayed on CCD read head acquisition individual pen absolute coding disk, and be stored in measuring circuit plate；
(2) line group light and shade striped data are portrayed according to selection, calculates every using centroid method and portrays line center location information, structure
Subdivision calculation matrix is built, and feature decomposition is carried out to the matrix, finds out the subdivision weight for respectively portraying line group；
(3) subdivision value is gone out according to subdivision weight calculation.
2. individual pen absolute encoder is anti-interference according to claim 1 and the Subdividing Processing method of noise, which is characterized in that
In step (2), wire clamp angle η is portrayed by following formula calculating, portrays line average headway φ and the line of portraying as unit of pixel is averaged
Spacing L:
In above formula, D is that coding disk portrays line central diameter, and M is the number of lines of portraying on coding disk, and W is CCD pixel width；
Using coding disk physical centre point as origin O, detection line is that the longitudinal axis establishes plane right-angle coordinate, past centered on detection line
Two sides respectively choose it is N number of portray line group, if CCD linear array and the coordinate system longitudinal axis have an intersection point A, while the center for each groove group chosen
Line and the intersection point of CCD linear array are EiAnd E-i, i=1,2 ..., N, what " i " and "-i " respectively indicated detection line two sides portrays line；It adopts
With centroid method, E is calculated according to formula (1)iAnd E-iAbscissaWith
In above formula, PiThe sampled value of line pixel, G are portrayed for i-thiPosition Number of the line pixel in CCD is portrayed for i-th.
3. individual pen absolute encoder is anti-interference according to claim 2 and the Subdividing Processing method of noise, which is characterized in that
In step (2), as N < < M, ∠ E-iOEiDiagonal line and CCD linear array intersection point eiAbscissaIt is asked by following formula approximation
Out:
To any i-th of subdivision position eiWith j-th of subdivision position ejSolve mutual subdivision distance aij:
Enable sij=1-aij,0≤sij< 1, by N × N number of sijBuilding subdivision calculation matrix S:
BecauseMatrix S positive definite, so certainly existing maximum model's card value | λ |maxAnd its corresponding feature vector ξ
=(ζ1,...,ζN), so that:
|λ|maxξ=STξ
Above formula is unfolded, is obtained: | λ |maxζi=ζ1s1i+ζ2s2i+...+ζNsNi, i=1 ..., N then segment weight αi:
4. individual pen absolute encoder is anti-interference according to claim 3 and the Subdividing Processing method of noise, which is characterized in that
In step (3), according to subdivision weight αiThe abscissa X of elaborate division by calculation position EE:
5. individual pen absolute encoder is anti-interference according to claim 3 and the Subdividing Processing method of noise, which is characterized in that
In step (3), according to subdivision weight αiElaborate division by calculation angle θ:
In above formula, XAFor the abscissa of CCD linear array and coordinate system longitudinal axis intersection point A.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109520529A (en) * | 2018-12-29 | 2019-03-26 | 苏州汇川技术有限公司 | Encoder head and encoder |
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| CN101476902A (en) * | 2009-01-13 | 2009-07-08 | 常州大地测绘科技有限公司 | Single-code channel absolute position encoding method |
| CN105627921A (en) * | 2015-12-18 | 2016-06-01 | 佛山轻子精密测控技术有限公司 | Absolute encoder subdivision acquisition system and measurement method thereof |
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2018
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|---|---|---|---|---|
| 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 |
| CN101476902A (en) * | 2009-01-13 | 2009-07-08 | 常州大地测绘科技有限公司 | Single-code channel absolute position encoding method |
| CN105627921A (en) * | 2015-12-18 | 2016-06-01 | 佛山轻子精密测控技术有限公司 | Absolute encoder subdivision acquisition system and measurement method thereof |
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| CN109520529A (en) * | 2018-12-29 | 2019-03-26 | 苏州汇川技术有限公司 | Encoder head and encoder |
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