CN109916340A - Rotating grating encoder acquires measuring device - Google Patents
Rotating grating encoder acquires measuring device Download PDFInfo
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- CN109916340A CN109916340A CN201910294396.8A CN201910294396A CN109916340A CN 109916340 A CN109916340 A CN 109916340A CN 201910294396 A CN201910294396 A CN 201910294396A CN 109916340 A CN109916340 A CN 109916340A
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Abstract
The embodiment of the invention discloses a kind of rotating grating encoders to acquire measuring device, including for emergent ray to rotating grating encoder light source module, rotating grating encoder, image capture module and the signal processing module of tested mechanical rotating shaft and synchronous rotation are set.Rotating grating encoder includes the compound code channel of pair that the compound code channel of master and code-disc of excircle is arranged in, and the compound code channel of major-minor includes absolute code channel and increment code channel；Image capture module acquires the light of the compound code channel reflection of major-minor respectively, and generates the absolute code channel image of major-minor and major-minor increment code channel image；Signal processing module calculates main rotation angle value according to the absolute code channel image of master and main increment code channel image；Secondary rotation angle value is calculated according to secondary absolutely code channel image and secondary increment code channel image；It is determined from main rotation angle value and secondary rotation angle value according to main shaft play situation and is tested mechanical angle of rotation angle value, improve the precision of rotating grating encoder angle measurement in high speed operation environment.
Description
Technical field
The present embodiments relate to angle position field of measuring technique, acquire more particularly to a kind of rotating grating encoder
Measuring device.
Background technique
With the fast development of domestic and international industrial automation technology, the angle position measurement of slewing is led in entire industry control
Extremely important in domain, encoder is also higher and higher as the performance requirement of servo drive system position measurement sensor.
Absolute photoelectric shaft encoder since with fixed zero, strong antijamming capability need not re-scale after power down,
The advantages that without accumulated error, is widely applied in rotation angle measurement field.
The relevant technologies generally develop novel absolute photoelectric shaft encoder using cricoid structure type, such as revolve
Turn grating encoder, to apply the measurement in industrial control field to rotating machinery angle.But rotating grating encoder is with quilt
Machinery is surveyed during high-speed rotation, rotating grating encoder, which is mounted on main shaft, can exist radial unstable with axial direction, make
At measurement error, the rotational angle precision for causing measurement to obtain being tested machinery is lower.In addition, conventional circular absolute optical electric axis angle
Encoder will realize that miniaturization just must be to sacrifice precision as cost.
Summary of the invention
The embodiment of the present disclosure provides a kind of rotating grating encoder acquisition measuring device, improves rotating grating encoder
The precision of angle measurement in high speed operation environment can be realized small-sized while guaranteeing rotating grating encoder measurement accuracy
Change.
In order to solve the above technical problems, the embodiment of the present invention the following technical schemes are provided:
The embodiment of the invention provides a kind of rotating grating encoders to acquire measuring device, including light source module, image are adopted
Collect module, signal processing module and rotating grating encoder；
The light source module is for emergent ray to the rotating grating encoder；The rotating grating encoder setting exists
On tested mechanical rotating shaft, and rotated with the tested mechanical synchronization；The compound code channel of master and code-disc including excircle is arranged in
Secondary compound code channel, the compound code channel of master and the compound code channel of pair include absolute code channel and increment code channel；
Described image acquisition module is located at same parallel plane with the compound code channel of corresponding master and/or secondary compound code channel；With
In the light of the acquisition compound code channel of master and the compound code channel reflection of the pair, and generate main absolute code channel image, main incremental code
Road image, secondary absolutely code channel image and secondary increment code channel image；
The signal processing module is used to calculate master according to the absolute code channel image of the master and the main increment code channel image
Rotation angle value；Secondary rotation angle value is calculated according to the secondary absolutely code channel image and the secondary increment code channel image；According to master
Axis play situation determines the angle of rotation angle value of the tested machinery from the main rotation angle value and the secondary rotation angle value.
Optionally, the light source module includes a light source, further includes light beam splitting module；
The light beam splitting module for being projected to after the light that the light source is emitted is divided into four beam beamlets respectively
The absolute code channel and increment code channel of the compound code channel of master of the rotating grating encoder, and absolute code channel and the increasing of secondary compound code channel
Measure code channel.
Optionally, the light source module includes first light source, second light source, third light source and the 4th light source；
The first light source emergent ray is projected to the absolute code channel of the compound code channel of master of the rotating grating encoder；
The second light source emergent ray is projected to the increment code channel of the compound code channel of master of the rotating grating encoder；
The third light source emergent ray is projected to the absolute code channel of the compound code channel of pair of the rotating grating encoder；
The 4th light source emergent ray is projected to the increment code channel of the compound code channel of pair of the rotating grating encoder.
Optionally, described image acquisition module includes the first image capture module, the second image capture module, third image
Acquisition module and the 4th image capture module；
The first image acquisition module is used to acquire the light of the absolute code channel reflection of the compound code channel of the master；
Second image capture module is used to acquire the light of the increment code channel reflection of the compound code channel of the master；
The third image capture module is used to acquire the light of the absolute code channel reflection of the compound code channel of pair；
4th image capture module is used to acquire the light of the increment code channel reflection of the compound code channel of pair.
It optionally, further include light collimating module；
The light collimating module is for collimating the light that the light source module is emitted to be projected to institute after collimated light beam
State the compound code channel of master and secondary compound code channel of rotating grating encoder.
It optionally, further include optical amplifier module；It is the optical amplifier module and the compound code channel of the corresponding master, described
Secondary compound code channel and described image acquisition module are located at same parallel plane；
The optical amplifier module is used to reflect the compound code channel of master of the rotating grating encoder and secondary compound code channel
Light carry out optical amplifier after, be projected to described image acquisition module.
Optionally, the signal processing module calculates the main rotation angle value α according to following formulaIt is main:
αIt is main=360 ° of * N+M；
M=a+b+c=a+ (N+1) * X1+U*(E/P)；B=(N+1) * X1；
In formula, X1Bar code code for the increment code channel is wide, and a is the left end and a fixed zero code channel left side of the absolute bar code of target
The distance between end, E are the unit pixel spacing value of described image acquisition module, and P is the optical amplifier module to incremental code
The amplification factor of road image；Item of the N between the corresponding first increment bar code of the absolute bar code of the target and the second increment bar code
Line sum；The absolute bar code of target is nearest with the first optical center of described image acquisition module on the absolute code channel
Absolute bar code；Second incremental encoding is nearest with the second optical center of described image acquisition module on the increment code channel
Increment bar code；U includes between the second optical center column pixel and the second incremental encoding column pixel
Column pixel number magnitude.
Optionally, the signal processing module is rotated according to main shaft play situation from the main rotation angle value and the pair
The angle of rotation angle value of the determining tested machinery includes: in angle value
Obtain the tested mechanical main rotation angle value α in t momentIt is mainWith secondary rotation angle value αIt is secondary；
Obtain the tested mechanical main rotation angle value α at the t-1 momentIt is main' and secondary rotation angle value αIt is secondary'；
Calculate i=| αIt is main-αIt is main'|-|αIt is secondary-αIt is secondary'|；
If i≤0, exporting the tested mechanical rotation angle value in t moment is αIt is main；
If i > 0, exporting the tested mechanical rotation angle value in t moment is αIt is secondary。
Optionally, the signal processing module is FPGA board.
Optionally, described image acquisition module is COMS collection lens.
The advantages of technical solution provided by the present application, is, is alternately read by the macro micro- compound code channel of major-minor under different conditions
Mode overcome and rotate grating encoder under fast state in the related technology and exist radial with axial unstable characteristic, improve
The interference free performance of rotary encoder realizes High-precision angle of the rotating grating encoder in the high speed operation environment and surveys
Amount；In addition, the small size manufacture craft difficulty of light source module, image capture module and signal processing module it is smaller, it can be achieved that
Guarantee to reduce volume while rotating grating encoder measurement accuracy, is conducive to rotating grating encoder towards miniaturization.
It should be understood that the above general description and the following detailed description are merely exemplary, this can not be limited
It is open.
Detailed description of the invention
It, below will be to embodiment or correlation for the clearer technical solution for illustrating the embodiment of the present invention or the relevant technologies
Attached drawing needed in technical description is briefly described, it should be apparent that, the accompanying drawings in the following description is only this hair
Bright some embodiments for those of ordinary skill in the art without creative efforts, can be with root
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the knot under a kind of embodiment of rotating grating encoder provided in an embodiment of the present invention acquisition measuring device
Structure schematic diagram；
Fig. 2 is the structural schematic diagram of the compound code channel of master of rotating grating encoder provided in an embodiment of the present invention；
Fig. 3 is the structural schematic diagram of the compound code channel of pair of rotating grating encoder provided in an embodiment of the present invention；
Fig. 4 is the knot under a kind of embodiment of rotating grating encoder provided in an embodiment of the present invention acquisition measuring device
Structure schematic diagram；
Fig. 5 is the schematic diagram that image capture module provided in an embodiment of the present invention acquires amplified image；
Fig. 6 is the partial enlargement diagram of B camera lens in Fig. 5 provided in an embodiment of the present invention.
Specific embodiment
In order to enable those skilled in the art to better understand the solution of the present invention, with reference to the accompanying drawings and detailed description
The present invention is described in further detail.Obviously, described embodiments are only a part of the embodiments of the present invention, rather than
Whole embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Under every other embodiment obtained, shall fall within the protection scope of the present invention.
The description and claims of this application and term " first ", " second ", " third " " in above-mentioned attached drawing
Four " etc. be for distinguishing different objects, rather than for describing specific sequence.Furthermore term " includes " and " having " and
Their any deformations, it is intended that cover and non-exclusive include.Such as contain a series of steps or units process, method,
System, product or equipment are not limited to listed step or unit, but may include the step of not listing or unit.
After describing the technical solution of the embodiment of the present invention, the various non-limiting realities of detailed description below the application
Apply mode.
Referring first to Fig. 1, Fig. 1 is that rotating grating encoder provided in an embodiment of the present invention acquires measuring device in a kind of tool
Structural schematic diagram under body embodiment, the embodiment of the present invention may include the following contents:
It may include light source module 1, image capture module 2, signal processing module 3 that rotating grating encoder, which acquires measuring device,
And rotating grating encoder 4.
It is understood that rotating grating encoder 4 is setting on tested mechanical rotating shaft, and itself and tested mechanical synchronization
Rotation.Rotating grating encoder 4 can be reflective rotating grating encoder, on reflective rotating grating encoder excircle code channel
It is made of respectively increment code channel and absolute code channel (containing the fixed code channel of zero-bit), is set as leading compound code channel (as shown in Figure 2), and code-disc
On code channel is also made of respectively increment code channel and absolute code channel (containing the fixed code channel of zero-bit), be set as the compound code channel of pair (such as Fig. 3 institute
Show).That is, rotating grating encoder 4 may include the compound code channel of pair that the compound code channel of master and code-disc of excircle is arranged in,
Main compound code channel and secondary compound code channel include absolute code channel and increment code channel.
Wherein, light and shade striped can be used in the coding mode of rotating grating encoder 4 encode, wherein bright fringe
It is " 1 " that institute is specifically corresponding, and specifically corresponding dark fringe institute is " 0 ".The compound code channel of the major-minor of rotating grating encoder 4 is (main multiple
Close code channel and the compound code channel of pair) increment code channel workable for coding mode that be light and shade striped alternate.Absolute code channel can be used
Binary pseudo random sequence code, there are one fixed zero code channels for absolute code channel top, and the fixed zero code channel is for counting
Rotating cycle and obtain absolute rotational position.Each bar code of the absolute code channel of the compound code channel of the major-minor of rotating grating encoder 4
The left end of the wide X and wide X1 of bar code code of increment code channel of code is perfectly aligned.
In the present embodiment, light source module 1 can be used for emergent ray to the compound code channel of the master of rotating grating encoder 4 and pair
On compound code channel, light source module 1 can be any light emitting source for being emitted any wavelength light, and those skilled in the art can
It is chosen according to actual needs.It may include an illuminating source in light source module 1, may also comprise multiple illuminating sources.
In one embodiment, light source module 1 includes an illuminating source, may also include light point in light source module 1
The light of beam module, the illuminating source outgoing of light source module 1 is divided into four beam beamlets, each beamlet quilt through light beam splitting module
It is projected to the absolute code channel of the compound code channel of master of rotating grating encoder, the increment code channel of main compound code channel, secondary compound key respectively
On the increment code channel of the absolute code channel in road and secondary compound code channel.Light beam splitting module can be achieved to be any by Ray Of Light
It is divided into Optical devices of multi beam sub-light line, such as beam splitter, Amici prism etc., the application does not do any restriction to this.
In one embodiment, light source module 1 includes four illuminating sources, such as first light source, second light source, third
Light source and the 4th light source.First light source emergent ray is projected to the absolute code channel of the compound code channel of master of rotating grating encoder；The
Two light source emergent rays are projected to the increment code channel of the compound code channel of master of rotating grating encoder；The projection of third light source emergent ray
To the absolute code channel of the compound code channel of pair of rotating grating encoder；4th light source emergent ray is projected to rotating grating encoder
The increment code channel of secondary compound code channel.
It should be noted that it is required to setting light beam splitting module when the illuminating source in light source module 1 is less than 4, it will
The light of light emitting source outgoing in light source module 1 is finally projected on rotating grating encoder 4 with four bundles light line after beam splitting.Light
The beam splitting device number for including in line beam splitting module can according in light source module 1 include illuminating source number and beam splitting device type
It determines.
In the present embodiment, image capture module 2 can be used for acquiring the light of main compound code channel and secondary compound code channel reflection,
And generate main absolute code channel image, main increment code channel image, secondary absolutely code channel image and secondary increment code channel image.
In order to accurately acquire reflection light, image capture module 2 and the compound code channel of corresponding master and/or secondary compound code channel position
In same parallel plane.Image capture module 2 may include a collection lens, also may include multiple images acquisition camera lens.
When image capture module 2 may include a collection lens, the collection lens and main compound code channel and secondary compound code channel
Positioned at same parallel plane.When image capture module 2 includes that multiple images acquire camera lens, each image capture module is corresponding
The compound code channel of master or secondary compound code channel be in the same parallel plane.Such as image capture module 2 may include that the first image is adopted
Collect module, the second image capture module, third image capture module and the 4th image capture module；First image capture module is used
It is in same parallel flat in the light of the absolute code channel reflection of the main compound code channel of acquisition, and with the absolute code channel of the compound code channel of master
On face；Second image capture module is used to acquire the light of the increment code channel reflection of main compound code channel, and with the compound code channel of master
Increment code channel is on the same parallel plane；Third image capture module is used to acquire the absolute code channel reflection of secondary compound code channel
Light, and be on the same parallel plane with the absolute code channel of secondary compound code channel；4th image capture module is for acquiring
The light of the increment code channel reflection of secondary compound code channel, and be on the same parallel plane with the increment code channel of secondary compound code channel.
Optionally, image capture module 2 can also be able to be certainly other types for high-precision COMS collection lens
Collection lens, this does not influence the realization of the application.
In the present embodiment, signal processing module 3 is used to be calculated according to the absolute code channel image of master and main increment code channel image
Main rotation angle value；Secondary rotation angle value is calculated according to secondary absolutely code channel image and secondary increment code channel image；According to main shaft play
Situation is from main rotation angle value αIt is mainWith secondary rotation angle value αIt is secondaryMiddle determination is tested mechanical angle of rotation angle value.
In one embodiment, absolute code channel image or secondary absolutely code channel image, incremental code based on absolute code channel image
Road image is main increment code channel image or secondary increment code channel image.Signal processing module 3 can to obtained absolute code channel image with
Image decoding between zero-bit code channel goes out the absolute position of a rotary encoder, and to the circle number of statistics zero-bit code channel rotation；
Then to obtained increment code channel image carry out processing decoding obtain one subdivision distance of increment, by processing conversion by this two
A distance, which is added, finally obtains a high-precision swing offset, obtains high-precision rotation angle using high-speed computation.
When the radial-play of main shaft is larger, α is selectedIt is mainFor the output of practical accurate angle；When the axial float of main shaft is larger
When, select αIt is secondaryFor the output of practical accurate angle.When main shaft is without obviously radially or axially play, with αIt is mainFor practical accurate angle
Output.
Optionally, image capture module 2 distinguishes collected four width image, and four width image transmittings give the same signal processing
Module 4 carries out data processing, and in order to improve data processing operation speed, signal processing module 4, which can be used, supports parallel computation
FPGA board.
In technical solution provided in an embodiment of the present invention, alternately read by the macro micro- compound code channel of major-minor under different conditions
Mode overcome and rotate grating encoder under fast state in the related technology and exist radial with axial unstable characteristic, improve
The interference free performance of rotary encoder realizes High-precision angle of the rotating grating encoder in the high speed operation environment and surveys
Amount；In addition, the small size manufacture craft difficulty of light source module, image capture module and signal processing module it is smaller, it can be achieved that
Guarantee to reduce volume while rotating grating encoder measurement accuracy, is conducive to rotating grating encoder towards miniaturization.
In a kind of specific embodiment, before light incidence rotating grating encoder, light can also be carried out quasi-
Directly, quality of optical imaging is improved, it can subsequent image processing.That is, settable light collimates mould after light source module 1
Block, the light collimating module can collimate the light that light source module 1 is emitted to be projected to rotating grating encoder after collimated light beam
The compound code channel of master and secondary compound code channel.Light collimating module can be any optics that can be collimated light as collimated light beam
Device, such as collimation lens, the application do not do any restriction to this.When light source module 1 includes multiple illuminating sources, each
A collimation lens can be respectively provided with after illuminating source, each collimation lens can carry out collimation processing to the light of corresponding incidence.
Optionally, the information on the compound code channel of major-minor is accurately read for the ease of signal processing module 3, it can be in Image Acquisition
Before, image enhanced processing is carried out.That is, rotating grating encoder acquisition measuring device may also include optical amplifier mould
Block.Optical amplifier module is used to the light of the compound code channel of the master of rotating grating encoder and secondary compound code channel reflection carrying out optics
After amplification, it is projected in image capture module 2.Light can be amplified the light of processing by optical amplifier module for any one
Device is learned, the application does not do any restriction to this.When light source module 1 includes multiple illuminating sources, after each illuminating source
It can be respectively provided with an optical amplifier module, each optical amplifier module can be to the light being accordingly emitted through rotating grating encoder 4
Reflection light amplifies processing.
It is understood that the amplification factor of optical amplifier module can according to practical application scene and user's accuracy requirement into
Row determines that when comprising multiple optical amplifier modules, the amplification factor of each optical amplifier module can be identical, can not also be identical, puts
Big multiple can be determined by required measurement accuracy, obtain complete clearly code character as far as possible.Especially to absolute code
The image comprising fixed zero code channel is needed in road image, to accurately count rotating cycle and obtain absolute rotational position.For
Accurately amplify and acquire all information to reflection light, it is optical amplifier module and corresponding master compound code channel, secondary compound
Code channel and image capture module need to be located on same parallel plane.
For the ease of present techniques personnel according to the technical solution of clear the application, present invention also provides one
Illustrative example is illustrated, and is please referred to shown in Fig. 4, the embodiment of the present invention can include:
Rotating grating encoder acquisition measuring device may include light source module 1, image capture module 2, FPGA board 3, anti-
Penetrate formula rotating grating encoder 4, light collimating module and optical amplifier module.
Wherein, light source module 1 includes first light source 11, second light source 12, third light source 13 and the 4th light source 14；Image is adopted
Collecting module 2 includes the first CMOS high-speed image sampling camera lens 21, the 2nd CMOS high-speed image sampling camera lens 22, the 3rd CMOS high speed
Collection lens 23, the 4th CMOS high-speed image sampling camera lens 24；Light collimating module includes that the first collimating mirror 51, second is quasi-
Straight mirror 52, third collimating mirror 53, the 4th collimating mirror 54；Optical amplifier module includes the first optical amplifier module 61, the second optics
Amplification module 62, third optical amplifier module 63, the 4th optical amplifier module 64.
The working principle of above-mentioned rotating grating encoder acquisition measuring device can be as described below:
Reflective rotating grating encoder 4 carries out high-speed rotation under the drive of main shaft, on the compound code channel of master, the first light
Source 11 and second light source 12 issue light beam respectively, are collimated into 1 He of collimated light beam by the first collimating mirror 51 and the second collimating mirror 52
Collimated light beam 2.Collimated light beam 1 and collimated light beam 2 are respectively radiated to exhausted on the main compound code channel of reflective rotating grating encoder 4
After code channel (containing the fixed code channel of zero-bit) and increment code channel, by reflection arrival optical amplifier processing module, the had both been arrived separately at
One optical amplifier module 61 and the second optical amplifier module 62.First CMOS high-speed image sampling camera lens 21 and the 2nd CMOS high speed
Collection lens 22 acquire the information of the two-way light Jing Guo optical amplifier processing module respectively, to form two images.Two
Width image transmitting carries out data processing to FPGA board 3, goes out to the image decoding between obtained absolute code channel and zero-bit code channel
The absolute position of one rotary encoder, and counting statistics rotating cycle is carried out to zero-bit code channel, to obtained increment code channel figure
The distance of increment of a subdivision is obtained as carrying out processing decoding, the two distances are added by processing conversion and finally obtain one
High-precision swing offset obtains high-precision angle value α using high-speed computationIt is main.Similarly, on secondary compound code channel, third
Light source 13 and the 4th light source 14 issue light beam respectively, are collimated into collimated light beam 3 by third collimating mirror 53 and the 4th collimating mirror 54
With collimated light beam 4.Collimated light beam 3 and collimated light beam 4 are respectively radiated on the secondary compound code channel of reflective rotating grating encoder 4
After absolute code channel (containing the fixed code channel of zero-bit) and increment code channel, optical amplifier processing module is reached by reflection, was both arrived separately at
Third optical amplifier module 63 and the 4th optical amplifier module 64.3rd CMOS high-speed image sampling camera lens 23 and the 4th CMOS high
Fast collection lens 24 acquire the information of the two-way light Jing Guo optical amplifier processing module respectively, to form other two width figure
Picture.Two images are transferred to FPGA board 3 and carry out data processing, obtain high-precision angle value α using high-speed computationIt is secondary。
In one embodiment, signal processing module 3 can calculate main rotation angle value α according to following formulaIt is main:
αIt is main=360 ° of * N+M；
M=a+b+c=a+ (N+1) * X1+U*(E/P)；B=(N+1) * X1；
In formula, X1It is wide for the bar code code of increment code channel, a be the absolute bar code of target left end and fixed zero code channel left end it
Between distance, E be image capture module unit pixel spacing value, P be amplification of the optical amplifier module to increment code channel image
Multiple；Striped sum of the N between the corresponding first increment bar code of the absolute bar code of target and the second increment bar code；The absolute item of target
Code is absolute bar code nearest with the first optical center of image capture module on absolute code channel；Second incremental encoding is incremental code
The increment bar code nearest with the second optical center of image capture module on road；U is the second optical center column pixel and the
The column pixel number magnitude for including between two incremental encoding column pixels.
For example, joining by taking the compound code channel of master as an example, first light source 11 and second light source 12 issue light beam respectively,
Collimated light beam 1 and collimated light beam 2 are collimated by the first collimating mirror 51 and the second collimating mirror 52.Collimated light beam 1 and collimated light beam 2
After being respectively radiated to the absolute code channel (containing the fixed code channel of zero-bit) and increment code channel of reflective rotating grating encoder 4, by anti-
It is mapped to up to the first optical amplifier module 61 and the second optical amplifier module 62.Wherein, the first optical amplifier module 61 is in order to obtain
Absolute code channel image high-definition needs a complete absolute code in image.Second optical amplifier module 62 is to increment
Code channel amplifies, and amplification factor here is indicated with P, then amplification factor is P=(E*F)/X1。
Wherein, X1Indicate that increment code channel bar code code is wide, E indicates the unit pixel of the 2nd CMOS high-speed image sampling camera lens 22
Interval, F indicate the column pixel quantity of the first CMOS high-speed image sampling camera lens 21.
First CMOS high-speed image sampling camera lens 21 and the 2nd CMOS high-speed image sampling camera lens 22 are acquired respectively by light
The information for learning the two-way light of enhanced processing module, to form two images.Two images are transferred to FPGA board 3 and carry out data
Processing, calculating process can be as follows:
Such as Fig. 5 and Fig. 6, the 2nd CMOS high-speed image sampling camera lens 22 is collected to be amplified by the second optical amplifier module 61
Absolute code channel clear image after, FPGA board 3 judges to capture camera lens A from entire COMS circle according to acquired image
The nearest absolute bar code in center, absolutely bar code n, is marked by the distance of its left end to fixed zero code channel point left end as shown in the figure
For a.At this point, the first CMOS high-speed image sampling camera lens 21 also acquires the incremental code being exaggerated by the first optical amplifier module 61
After the clear image in road, FPGA board 3 is perfectly aligned according to each bar code of absolute code channel and each bar code of increment code channel
Principle judges that absolute bar code at this time corresponds to the position of increment bar code, as shown in Figure 5 at this time in CMOS circle capture camera lens B absolutely
It is n1 to the corresponding increment bar code of bar code n.Meanwhile FPGA board 3 judges to catch from entire COMS circle according to acquired image
The nearest absolute bar code in the center camera lens B is obtained to then proceed to judge to have between increment bar code n1 to increment bar code n2 more such as n2 in figure
Few light and shade striped is denoted as N, then the b in Fig. 5 is b=(N+1) * X1。
An Accuracy Error compensation c can be introduced and calculate the distance that the left end n2 captures the center camera lens B to CMOS circle.
As Fig. 6 makes FPGA board 3 judge that the center camera lens B of CMOS circle capture at this time is located at by image processing techniques
Column pixel z location, the increment left end bar code n2 are located at the z1 of column pixel, between column pixel quantity be U, according to the first CMOS of front
Exact value of the high-speed image sampling camera lens 21 in relation to the available c of parameter information is U* (E/P).It finally obtained a high-precision
Swing offset value M:
M=a+b+c=a+ (N+1) * X1+U*(E/P)；
Meanwhile the 2nd CMOS high-speed image sampling camera lens 22 acquire the image of fixed zero code channel, FPGA board 3 carries out essence
It really counts, obtains effective rotating cycle N.So obtaining high-precision αIt is main, αIt is main=360 ° of * N+M.
To secondary compound code channel, high-precision α is obtained also by above-mentioned measurement methodIt is secondary′。
In main axis, per a moment FPGA board 3 can obtain two angle value αIt is mainAnd αIt is secondary。αIt is mainAnd αIt is secondaryRespectively with it is preceding
The α at one momentIt is main′、αIt is secondary' make the difference and take absolute value, i.e., | αIt is main-αIt is main' | and | αIt is secondary-αIt is secondary' |, when both are equal, with αIt is mainFor practical essence
True angle output；When the former is big, α is selectedIt is secondaryFor the output of practical accurate angle.But when the latter is big, α is selectedIt is mainFor practical accurate angle
Degree output, that is to say, that the tested mechanical main rotation angle value α in t moment is being calculated in FPGA board 3It is mainWith secondary rotation angle
Angle value αIt is secondaryAfterwards, when determining tested mechanical final output rotation angle value, the tested mechanical main rotation at the t-1 moment can be obtained first
Corner angle value αIt is main' and secondary rotation angle value αIt is secondary′；Then i=is calculated | αIt is main-αIt is main′|-|αIt is secondary-αIt is secondary' |, and judge the positive and negative of i value；
If i≤0, exporting the tested mechanical rotation angle value in t moment is αIt is main；
If i > 0, exporting the tested mechanical rotation angle value in t moment is αIt is secondary。
From the foregoing, it will be observed that the embodiment of the present invention improves the essence of rotating grating encoder angle measurement in high speed operation environment
Degree, can realize miniaturization while guaranteeing rotating grating encoder measurement accuracy.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with it is other
The difference of embodiment, same or similar part may refer to each other between each embodiment.For being filled disclosed in embodiment
For setting, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place is referring to method part
Explanation.
Professional further appreciates that, unit described in conjunction with the examples disclosed in the embodiments of the present disclosure
And algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two, in order to clearly demonstrate hardware and
The interchangeability of software generally describes each exemplary composition and step according to function in the above description.These
Function is implemented in hardware or software actually, the specific application and design constraint depending on technical solution.Profession
Technical staff can use different methods to achieve the described function each specific application, but this realization is not answered
Think beyond the scope of this invention.
The step of method described in conjunction with the examples disclosed in this document or algorithm, can directly be held with hardware, processor
The combination of capable software module or the two is implemented.Software module can be placed in random access memory (RAM), memory, read-only deposit
Reservoir (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technology
In any other form of storage medium well known in field.
A kind of rotary encoder provided by the present invention is described in detail above.Specific case used herein
Principle and implementation of the present invention are described, the above embodiments are only used to help understand side of the invention
Method and its core concept.It should be pointed out that for those skilled in the art, not departing from the principle of the invention
Under the premise of, it can be with several improvements and modifications are made to the present invention, these improvement and modification also fall into the claims in the present invention
In protection scope.
Claims (10)
1. a kind of rotating grating encoder acquires measuring device, which is characterized in that including light source module, image capture module, letter
Number processing module and rotating grating encoder；
The light source module is for emergent ray to the rotating grating encoder；The rotating grating encoder setting is tested
On mechanical rotating shaft, and rotated with the tested mechanical synchronization；The pair of the compound code channel of master and code-disc including excircle is arranged in is multiple
Code channel is closed, the compound code channel of master and the compound code channel of pair include absolute code channel and increment code channel；
Described image acquisition module is located at same parallel plane with the compound code channel of corresponding master and/or secondary compound code channel；For adopting
Collect the light of the compound code channel of the master and the compound code channel reflection of the pair, and generates main absolute code channel image, main increment code channel figure
Picture, secondary absolutely code channel image and secondary increment code channel image；
The signal processing module is used to calculate main rotation according to the absolute code channel image of the master and the main increment code channel image
Angle value；Secondary rotation angle value is calculated according to the secondary absolutely code channel image and the secondary increment code channel image；It is altered according to main shaft
Emotionally condition determines the angle of rotation angle value of the tested machinery from the main rotation angle value and the secondary rotation angle value.
2. rotating grating encoder according to claim 1 acquires measuring device, which is characterized in that the light source module packet
A light source is included, further includes light beam splitting module；
The light beam splitting module is described for being projected to after the light that the light source is emitted is divided into four beam beamlets respectively
The absolute code channel and increment code channel of the compound code channel of the master of rotating grating encoder, and the absolute code channel and incremental code of secondary compound code channel
Road.
3. rotating grating encoder according to claim 1 acquires measuring device, which is characterized in that the light source module packet
Include first light source, second light source, third light source and the 4th light source；
The first light source emergent ray is projected to the absolute code channel of the compound code channel of master of the rotating grating encoder；
The second light source emergent ray is projected to the increment code channel of the compound code channel of master of the rotating grating encoder；
The third light source emergent ray is projected to the absolute code channel of the compound code channel of pair of the rotating grating encoder；
The 4th light source emergent ray is projected to the increment code channel of the compound code channel of pair of the rotating grating encoder.
4. rotating grating encoder according to claim 3 acquires measuring device, which is characterized in that described image acquires mould
Block includes the first image capture module, the second image capture module, third image capture module and the 4th image capture module；
The first image acquisition module is used to acquire the light of the absolute code channel reflection of the compound code channel of the master；
Second image capture module is used to acquire the light of the increment code channel reflection of the compound code channel of the master；
The third image capture module is used to acquire the light of the absolute code channel reflection of the compound code channel of pair；
4th image capture module is used to acquire the light of the increment code channel reflection of the compound code channel of pair.
5. rotating grating encoder according to claim 1 acquires measuring device, which is characterized in that further include light collimation
Module；
The light collimating module is for collimating the light that the light source module is emitted to be projected to the rotation after collimated light beam
Turn the compound code channel of master and secondary compound code channel of grating encoder.
6. rotating grating encoder described in -5 any one acquires measuring device according to claim 1, which is characterized in that also wrap
Include optical amplifier module；The optical amplifier module and the compound code channel of the corresponding master, the compound code channel of the pair and the figure
As acquisition module is located at same parallel plane；
The optical amplifier module is used for the light of the compound code channel of master of the rotating grating encoder and secondary compound code channel reflection
After line carries out optical amplifier, it is projected to described image acquisition module.
7. rotating grating encoder according to claim 6 acquires measuring device, which is characterized in that the signal processing mould
Root tuber calculates the main rotation angle value α according to following formulaIt is main:
αIt is main=360 ° of * N+M；
M=a+b+c=a+ (N+1) * X1+U*(E/P)；B=(N+1) * X1；
In formula, X1Bar code code for the increment code channel is wide, a be the absolute bar code of target left end and fixed zero code channel left end it
Between distance, E be described image acquisition module unit pixel spacing value, P be the optical amplifier module to increment code channel figure
The amplification factor of picture；Striped of the N between the corresponding first increment bar code of the absolute bar code of the target and the second increment bar code is total
Number；The absolute bar code of target be on the absolute code channel with nearest absolute in the first optical center of described image acquisition module
Bar code；Second incremental encoding is increasing nearest with the second optical center of described image acquisition module on the increment code channel
Measure bar code；The column that U includes between the second optical center column pixel and the second incremental encoding column pixel
Pixel number magnitude.
8. rotating grating encoder described in -5 any one acquires measuring device according to claim 1, which is characterized in that described
Signal processing module determines the quilt from the main rotation angle value and the secondary rotation angle value according to main shaft play situation
Surveying mechanical angle of rotation angle value includes:
Obtain the tested mechanical main rotation angle value α in t momentIt is mainWith secondary rotation angle value αIt is secondary；
Obtain the tested mechanical main rotation angle value α at the t-1 momentIt is main' and secondary rotation angle value αIt is secondary'；
Calculate i=| αIt is main-αIt is main'|-|αIt is secondary-αIt is secondary'|；
If i≤0, exporting the tested mechanical rotation angle value in t moment is αIt is main；
If i > 0, exporting the tested mechanical rotation angle value in t moment is αIt is secondary。
9. rotating grating encoder according to claim 7 acquires measuring device, which is characterized in that the signal processing mould
Block is FPGA board.
10. rotating grating encoder according to claim 8 acquires measuring device, which is characterized in that described image acquisition
Module is COMS collection lens.
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