CN110440842A - A kind of no code-disc encoder - Google Patents
A kind of no code-disc encoder Download PDFInfo
- Publication number
- CN110440842A CN110440842A CN201910679648.9A CN201910679648A CN110440842A CN 110440842 A CN110440842 A CN 110440842A CN 201910679648 A CN201910679648 A CN 201910679648A CN 110440842 A CN110440842 A CN 110440842A
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- light source
- hot spot
- code
- measured
- axis
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- 238000003384 imaging method Methods 0.000 claims abstract description 11
- 230000001360 synchronised effect Effects 0.000 claims abstract description 8
- 238000005259 measurement Methods 0.000 description 8
- 238000000034 method Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000001427 coherent effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
-
- 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
- G01D5/36—Forming the light into pulses
- G01D5/38—Forming the light into pulses by diffraction gratings
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Optical Transform (AREA)
Abstract
The invention discloses a kind of no code-disc encoders, including spindle connector, hot spot disk, light source, imaging sensor, hood, micro treatment module；Light source is set on hot spot disk, and hot spot disk is mounted on one end of spindle connector, and the other end of spindle connector is used for coaxially connected axis to be measured, and hood is for shielding natural light；Imaging sensor, the characteristic image out of focus generated for acquiring light source with axis synchronous rotary to be measured, and characteristic image out of focus is sent to micro treatment module；Micro treatment module receives the characteristic image out of focus generated when imaging sensor photographic light sources are rotated with axis to be measured, when light source is rotated with axis to be measured, the hot spot gray scale mass center of light source generates imaginary circle track, the present rotation angel degree information of light source is obtained by the relative position inverting of real-time hot spot gray scale mass center and imaginary circle track, to obtain the rotation angle of axis to be measured.No code-disc encoder provided by the invention can be realized encoder without code-disc.
Description
Technical field
The present invention relates to encoder techniques field more particularly to a kind of no code-disc encoders.
Background technique
High-precision is a kind of high-precision angle measurement unit without code-disc encoder, in aerospace, industrial automation control
The fields such as system, unmanned plane all play indispensable role.Currently, photo-electric be increasingly becoming without code-disc encoder it is most widely used
Fine angle measuring device.The core devices of photoelectric encoder are code-discs, with the raising of measurement accuracy, the diameter phase of code-disc
It should increase, therefore resolution ratio and device volume of the Traditional photovoltaic formula without code-disc encoder are a pair of implacable contradiction, also
Become high-precision without the bottleneck on code-disc encoder micromation road.
With the development of machine vision technique, the imaging sensors such as CCD and CMOS are as tradition without light in code-disc encoder
The substitute of quick element and be used to identify coding complicated on code-disc and realize high-precision fine.But existing encoder
All it must be just able to achieve its function by code-disc, not occur the encoder of no code-disc also.
Summary of the invention
In view of this, the present invention provide it is a kind of can be realized simultaneously high-precision and micromation without code-disc encoder, can
The technical issues of high precision photoelectric encoder in the prior art all must just be able to achieve its function by code-disc is solved, realizes coding
Device without code-disc.
In order to solve the above-mentioned technical problem, the embodiment of the invention provides a kind of no code-disc encoders, including main shaft to connect
Device, hot spot disk, light source, imaging sensor, hood, micro treatment module；
The light source is set on the hot spot disk, and the hot spot disk is mounted on one end of the spindle connector, described
The other end of spindle connector is used for coaxially connected axis to be measured, and the hood is used to sense for the hot spot disk, described image
Device shields natural light；
Described image sensor, the characteristic pattern out of focus generated for acquiring the light source with the axis synchronous rotary to be measured
Picture, and the characteristic image out of focus is sent to the micro treatment module；
The micro treatment module receives described image sensor and shoots to be generated when the light source is rotated with the axis to be measured
Characteristic image out of focus, when the light source is rotated with axis to be measured, the hot spot gray scale mass center of the light source generates imaginary circle track, passes through
The relative position inverting of real-time hot spot gray scale mass center and the imaginary circle track obtains the present rotation angel degree information of the light source,
To obtain the rotation angle of the axis to be measured.
Preferably, the hot spot disk is equipped with for installing the light source and changing light source position on hot spot disk
Several light source mounting holes.
Preferably, the light source is attached to the hot spot panel surface.
Preferably, the no code-disc encoder further includes grating, and the grating is set to the light source and the figure
As between sensor, described image sensor is used to shoot the light source and irradiates the characteristic image out of focus that the grating generates.
Preferably, the grating is LCD slit array.
Preferably, described image sensor is industrial camera, general camera, ccd image sensor or CMOS figure
As sensor.
Preferably, the light source is wireless power supply type light source or wired powered light sources.
Compared with the prior art, the beneficial effect of the embodiment of the present invention is, identified by described image sensor described in
The light source on hot spot disk is rotated synchronously with the spindle connector and the characteristic image out of focus that generates, with the hot spot disk generation
For code-disc in the prior art, to realize without code-disc encoder without code-disc；And institute is obtained using the micro treatment module
The imaginary circle track generated when the hot spot of light source is rotated with axis to be measured is stated, real-time hot spot gray scale mass center and the imaginary circle track are passed through
Relative position inverting obtain the present rotation angel degree information of light source, to obtain the rotation angle of axis to be measured, and then realize nothing
The function of code-disc encoder measurement rotation angle.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of no code-disc encoder provided by the invention；
Fig. 2 is the structural schematic diagram without code-disc encoder in the embodiment of the present invention；
Wherein, the appended drawing reference in Figure of description is as follows:
1, spindle connector；2, hot spot disk；3, light source；4, imaging sensor；5, hood；6, micro treatment module；7, to
Survey axis.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Referring to Figure 1, the preferred embodiment of the present invention provides a kind of no code-disc encoder, including spindle connector 1, hot spot
Disk 2, light source 3, imaging sensor 4, hood 5, micro treatment module 6.
The light source 3 is set on the hot spot disk 2, and the hot spot disk 2 is mounted on one end of the spindle connector 1,
The other end of the spindle connector 1 is used for coaxially connected axis 7 to be measured, wherein the spindle connector 1 is realized by motor to be revolved
Transhipment is dynamic, to synchronize rotary motion for the hot spot disk 2, the axis 7 to be measured and provide power resources.
The hood 5 is used to shield natural light for the hot spot disk 2, described image sensor 4, to guarantee described image
The collected optical signal of sensor 4 both is from the light source 3.
Described image sensor 4, the spy out of focus generated for acquiring the light source 3 with 7 synchronous rotary of axis to be measured
Image is levied, and the characteristic image out of focus is sent to the micro treatment module 6；Wherein, described image sensor 4 should be with institute
It states light source 3 to keep closely, generated spy out of focus when effectively taking the light source 3 with 7 synchronous rotary of axis to be measured
Levy image.
The micro treatment module 6 receives described image sensor 4 and shoots production when the light source 3 is rotated with the axis 7 to be measured
Raw characteristic image out of focus, when the light source 3 is rotated with axis 7 to be measured, the hot spot gray scale mass center of the light source 3 can with it is described to
It surveys the rotation of axis 7 and generates imaginary circle track, obtained by real-time hot spot gray scale mass center and the relative position inverting of the imaginary circle track
The present rotation angel degree information of the light source 3, to obtain the rotation angle of the axis to be measured 7.
Fig. 2 is referred to, the working principle without code-disc encoder of the present embodiment is:
Identify that the light source 3 on the hot spot disk 2 is synchronous with the spindle connector 1 by described image sensor 4
The characteristic image out of focus of rotation and generation replaces code-disc in the prior art with the hot spot disk 2, encodes to realize without code-disc
Device without code-disc；
It is generated using the gray scale mass center that the micro treatment module 6 obtains hot spot when the light source 3 is rotated with the axis 7 to be measured
Imaginary circle track, the current of the light source 3 is obtained by the relative position inverting of real-time hot spot gray scale mass center and imaginary circle track
Rotation angle information to obtain the rotation angle of the axis to be measured 7, and then is realized and measures rotation angle without code-disc encoder
Function.
Rotation is identified by rotating synchronously the characteristic image out of focus formed with the axis 7 to be measured using the light source 3 in this way
Angle measurement, changes traditional measurement mechanism, fundamentally solves traditional contradiction without code-disc encoder accuracy and size,
And coherent signal handling components quantity greatly reduces, structure obviously optimizes, at the same be advantageously implemented high-precision, micromation it is excellent
Point, cost is lower, and reliability is higher.
Wherein, it should be noted that the micro treatment module 6 includes but is not limited to that computer, processor etc. have operation
The electronic equipment of function can calculate working as the light source 3 according to the relative position of hot spot gray scale mass center and imaginary circle track
Preceding rotation angle information, and then the rotation angle of the axis 7 to be measured is calculated, herein without repeating.
In embodiments of the present invention, the hot spot disk 2 is equipped with several light source mounting holes, for installing the light source 3 simultaneously
Change position of the light source 3 on hot spot disk 2, or the light source 3 is directly attached to the 2 surface any position of hot spot disk.In
In the present embodiment, the hood 5 is for shielding extraneous light, to guarantee that the light source 3 is that described image sensor 4 recognizes
Unique light source 3, thus guarantee described image sensor 4 shoot image be the light source 3 rotated with the spindle connector 1
And the characteristic image out of focus generated, and then improve the accuracy of measurement of the no code-disc encoder.
In embodiments of the present invention, the no code-disc encoder further includes grating, and the grating is set to the light source 3 and institute
It states between imaging sensor 4, the light source 3 irradiates the feature out of focus that the grating generates to described image sensor 4 for identification
Image.By increasing controllable grating between the light source 3 and described image sensor 4, and make the grating and the figure
As sensor 4 keeps distance close enough, enable the light source 3 irradiate the grating generate characteristic image out of focus by and institute
State the identification of imaging sensor 4.
In embodiments of the present invention, the grating is LCD slit array.By in the light source 3 and described image sensing
Increase controllable LCD slit array between device 4, and the LCD slit array and described image sensor 4 is made to keep close enough
Distance enables the light source 3 to irradiate the LCD slit array and generates characteristic image out of focus and by described image sensor 4
Identification.
In embodiments of the present invention, described image sensor 4 be industrial camera, general camera, ccd image sensor 4 or
Cmos image sensor 4.
In embodiments of the present invention, the light source 3 is wireless power supply type light source 3 or wired powered light sources 3.
The embodiment of the invention provides a kind of no code-disc encoders, including spindle connector 1, hot spot disk 2, light source 3, image
Sensor 4, hood 5, micro treatment module 6；The light source 3 is set on the hot spot disk 2, and the hot spot disk 2 is mounted on described
On one end of spindle connector 1, the other end of the spindle connector 1 is used for coaxially connected axis 7 to be measured, and the hood 5 is used
In for the hot spot disk 2, described image sensor 4 shield natural light；Described image sensor 4, for acquire the light source 3 with
7 synchronous rotary of axis to be measured and the characteristic image out of focus generated, and the characteristic image out of focus is sent to the micro process
Module 6；The micro treatment module 6 receives described image sensor 4 and shoots generation when the light source 3 is rotated with the axis 7 to be measured
Characteristic image out of focus, when the light source 3 is rotated with axis 7 to be measured, the gray scale mass center of hot spot can generate imaginary circle track, pass through reality
When hot spot gray scale mass center and the relative position inverting of imaginary circle obtain the present rotation angel degree information of the light source 3, to obtain
State the rotation angle of axis 7 to be measured.Compared with the prior art, the invention has the following beneficial effects:
(1) identify that the light source 3 on the hot spot disk 2 is same with the spindle connector 1 by described image sensor 4
The characteristic image out of focus of step rotation and generation, replaces code-disc in the prior art with the hot spot disk 2, and utilize the micro process
The imaginary circle track that the hot spot that module 6 obtains the light source 3 generates when rotating with the axis 7 to be measured, passes through the hot spot gray scale matter
The rotational angle of the heart obtains rotation angle information, thus realize encoder without code-disc.
(2) it is connect by the micro treatment module 6 with described image sensor 4, described image sensor 4 shoots the light
The characteristic image out of focus that source 3 generates, the processing of micro treatment module 6 obtain production when the hot spot of the light source 3 is rotated with axis to be measured
Raw imaginary circle track；Also, it is rotated synchronously by the light source 3 with the spindle connector 1, obtains turning for the gray scale mass center
Dynamic angle, the micro process obtains the current angular information of the light source 3 according to the rotational angle of the gray scale mass center, thus root
Angle is rotated according to the current angular information acquisition of the light source 3, and then real on the basis of no code-disc encoder is without code-disc
The function of rotation angle measurement is showed.
(3) encoder code disc of the prior art is replaced by using hot spot disk 2, the code-disc for having given up conventional codec is set
It sets, so that coder structure is optimized；And utilize point light source 3 with the spindle connector 1, axis synchronous rotary to be measured in institute
The rotation angle inverting for stating the hot spot gray scale mass center that generates on imaging sensor 4 obtains the spindle connector 1, axis to be measured 7
Rotate angle, thus realize encoder without code-disc, and realize the function that accurately measures of the encoder, and then simultaneously
Realize micromation and high-precision advantage.
(4) characteristic image out of focus formed is rotated synchronously with the spindle connector 1 using light source 3, is shot described out of focus
Characteristic image is simultaneously handled by the micro treatment module 6, to realize rotation angle measurement, so that coherent signal processing elements device
Structure obviously optimize, realize high-precision, micromation the advantages of, cost is lower, and reliability is higher.
The above is a preferred embodiment of the present invention, it is noted that for those skilled in the art
For, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also considered as
Protection scope of the present invention.
Claims (7)
1. a kind of no code-disc encoder, which is characterized in that including spindle connector, hot spot disk, light source, imaging sensor, shading
Cover, micro treatment module；
The light source is set on the hot spot disk, and the hot spot disk is mounted on one end of the spindle connector, the main shaft
The other end of connector is used for coaxially connected axis to be measured, and the hood is used to be the hot spot disk, described image sensor screen
Cover natural light；
Described image sensor, the characteristic image out of focus generated for acquiring the light source with the axis synchronous rotary to be measured,
And the characteristic image out of focus is sent to the micro treatment module；
The mistake that the light source that the micro treatment module receives described image sensor shooting generates when rotating with the axis to be measured
Burnt characteristic image, when the light source is rotated with axis to be measured, the hot spot gray scale mass center of the light source generates imaginary circle track, passes through reality
When hot spot gray scale mass center and the relative position inverting of the imaginary circle track obtain the present rotation angel degree information of the light source, with
Obtain the rotation angle of the axis to be measured.
2. as described in claim 1 without code-disc encoder, which is characterized in that the hot spot disk is equipped with for installing the light
Source and several light source mounting holes for changing light source position on hot spot disk.
3. rotating disk encoder as described in claim 1, which is characterized in that the light source is attached to the hot spot panel surface.
4. as described in claim 1 without code-disc encoder, which is characterized in that the no code-disc encoder further includes grating, institute
It states grating to be set between the light source and described image sensor, described image sensor is for shooting described in the light source irradiation
The characteristic image out of focus that grating generates.
5. as claimed in claim 4 without code-disc encoder, which is characterized in that the grating is LCD slit array.
6. as described in claim 1 without code-disc encoder, which is characterized in that described image sensor is industrial camera, commonly
Camera, ccd image sensor or cmos image sensor.
7. as described in claim 1 without code-disc encoder, which is characterized in that the light source is wireless power supply type light source or wired
Powered light sources.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910679648.9A CN110440842B (en) | 2019-07-25 | 2019-07-25 | Encoder without code disc |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910679648.9A CN110440842B (en) | 2019-07-25 | 2019-07-25 | Encoder without code disc |
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| CN110440842A true CN110440842A (en) | 2019-11-12 |
| CN110440842B CN110440842B (en) | 2021-07-13 |
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Citations (6)
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|---|---|---|---|---|
| JPH06235622A (en) * | 1992-11-27 | 1994-08-23 | Mitsubishi Electric Corp | Position detecting element, position detecting method using the same and optical rotary encoder |
| CN102073324A (en) * | 2010-12-29 | 2011-05-25 | 哈尔滨工业大学 | Linearly polarized light-based polarization tracking system and method |
| CN103353387A (en) * | 2013-06-28 | 2013-10-16 | 哈尔滨工业大学 | Light-spot image processing detection system and method for detecting light-spot gray scale centroid and conventional gray-scale image-noise removal effect |
| TW201428240A (en) * | 2013-01-14 | 2014-07-16 | Prec Machinery Res & Dev Ct | Angle detection method for angle encoder |
| CN108344362A (en) * | 2017-05-27 | 2018-07-31 | 中国科学院上海技术物理研究所 | A kind of optical measuring device and method of high-precision shafting running accuracy |
| CN108426700A (en) * | 2017-12-26 | 2018-08-21 | 北京空间机电研究所 | A kind of gravity is directed toward camera lens optical axis the detection method of influence |
-
2019
- 2019-07-25 CN CN201910679648.9A patent/CN110440842B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06235622A (en) * | 1992-11-27 | 1994-08-23 | Mitsubishi Electric Corp | Position detecting element, position detecting method using the same and optical rotary encoder |
| CN102073324A (en) * | 2010-12-29 | 2011-05-25 | 哈尔滨工业大学 | Linearly polarized light-based polarization tracking system and method |
| TW201428240A (en) * | 2013-01-14 | 2014-07-16 | Prec Machinery Res & Dev Ct | Angle detection method for angle encoder |
| CN103353387A (en) * | 2013-06-28 | 2013-10-16 | 哈尔滨工业大学 | Light-spot image processing detection system and method for detecting light-spot gray scale centroid and conventional gray-scale image-noise removal effect |
| CN108344362A (en) * | 2017-05-27 | 2018-07-31 | 中国科学院上海技术物理研究所 | A kind of optical measuring device and method of high-precision shafting running accuracy |
| CN108426700A (en) * | 2017-12-26 | 2018-08-21 | 北京空间机电研究所 | A kind of gravity is directed toward camera lens optical axis the detection method of influence |
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Effective date of registration: 20231120 Address after: Building B1, 4th Floor, Yifang Huigu Science and Technology Park, No. 106 Lingnan Avenue, Shigu Community, Tangxia Town, Dongguan City, Guangdong Province, 523000 Patentee after: DONGGUAN QIANHE ELECTRONIC Co.,Ltd. Address before: No. 230, Waihuan West Road, Guangzhou University Town, Panyu, Guangzhou City, Guangdong Province, 510006 Patentee before: Guangzhou University |