CN110440842B - Encoder without code disc - Google Patents
Encoder without code disc Download PDFInfo
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- CN110440842B CN110440842B CN201910679648.9A CN201910679648A CN110440842B CN 110440842 B CN110440842 B CN 110440842B CN 201910679648 A CN201910679648 A CN 201910679648A CN 110440842 B CN110440842 B CN 110440842B
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- 238000012545 processing Methods 0.000 claims abstract description 23
- 230000001360 synchronised effect Effects 0.000 claims abstract description 11
- 230000003287 optical effect Effects 0.000 claims abstract description 9
- 238000005259 measurement Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 2
- 230000001678 irradiating effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000000306 component Substances 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
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- 230000004048 modification Effects 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
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- 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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- General Physics & Mathematics (AREA)
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Abstract
The invention discloses a codeless encoder, which comprises a main shaft connector, an optical spot disc, a light source, an image sensor, a light shield and a micro-processing module, wherein the main shaft connector is connected with the light spot disc; the light source is arranged on a spot disc, the spot disc is arranged at one end of a main shaft connector, the other end of the main shaft connector is coaxially connected with a shaft to be measured, and a light shield is used for shielding natural light; the image sensor is used for collecting an out-of-focus characteristic image generated by synchronous rotation of the light source along with the shaft to be detected and sending the out-of-focus characteristic image to the micro-processing module; the micro-processing module receives an out-of-focus characteristic image generated when the image sensor shoots the light source to rotate along with the shaft to be measured, when the light source rotates along with the shaft to be measured, the light spot gray scale centroid of the light source generates a virtual circle track, and current rotation angle information of the light source is obtained through real-time inversion of the relative position of the light spot gray scale centroid and the virtual circle track so as to obtain the rotation angle of the shaft to be measured. The codeless encoder provided by the invention can realize codeless encoding of the encoder.
Description
Technical Field
The invention relates to the technical field of encoders, in particular to a codeless encoder.
Background
The high-precision codeless encoder is a high-precision angle measuring device and plays an indispensable role in the fields of aerospace, industrial automation control, unmanned aerial vehicles and the like. At present, the photoelectric codeless encoder gradually becomes the most widely applied precise angle measuring device. The core component of the photoelectric encoder is a code disc, and the diameter of the code disc is correspondingly increased along with the improvement of the measurement precision, so that the resolution and the device volume of the traditional photoelectric codeless encoder are a pair of irreconcilable contradictions, and the photoelectric codeless encoder also becomes a bottleneck on the miniaturization road of the high-precision codeless encoder.
With the development of machine vision technology, image sensors such as CCD and CMOS are used as substitutes for photosensitive elements in conventional codeless encoders to recognize complicated codes on codewheels and to realize high-precision subdivision. However, the existing encoder can realize the function only by depending on the code disc, and the encoder without the code disc is not available.
Disclosure of Invention
In view of this, the present invention provides a codeless encoder capable of achieving both high precision and miniaturization, which can solve the technical problem that in the prior art, a high-precision photoelectric encoder can achieve its function only by means of a codewheel, and achieve codeless encoding of the encoder.
In order to solve the above technical problem, an embodiment of the present invention provides a codeless encoder, which includes a spindle connector, an optical spot disc, a light source, an image sensor, a light shield, and a micro-processing module;
the light source is arranged on the spot disc, the spot disc is arranged at one end of the main shaft connector, the other end of the main shaft connector is used for coaxially connecting a shaft to be measured, and the light shield is used for shielding the spot disc and the image sensor from natural light;
the image sensor is used for collecting an out-of-focus characteristic image generated by the synchronous rotation of the light source along with the shaft to be detected and sending the out-of-focus characteristic image to the micro-processing module;
the micro-processing module receives an out-of-focus characteristic image generated when the light source rotates along with the axis to be measured and shot by the image sensor, when the light source rotates along with the axis to be measured, the light spot gray scale centroid of the light source generates a virtual circle track, and current rotation angle information of the light source is obtained through real-time inversion of the relative positions of the light spot gray scale centroid and the virtual circle track, so that the rotation angle of the axis to be measured is obtained.
Preferably, the light spot disc is provided with a plurality of light source mounting holes for mounting the light source and changing the position of the light source on the light spot disc.
Preferably, the light source is attached to the surface of the spot plate.
Preferably, the codeless encoder further includes a grating, the grating is disposed between the light source and the image sensor, and the image sensor is configured to capture an out-of-focus characteristic image generated by the light source irradiating the grating.
Preferably, the grating is an LCD slit array.
Preferably, the image sensor is an industrial camera, a general camera, a CCD image sensor or a CMOS image sensor.
Preferably, the light source is a wirelessly powered light source or a wired powered light source.
Compared with the prior art, the optical disc encoder has the advantages that the out-of-focus characteristic image generated by the synchronous rotation of the light source on the optical disc along with the main shaft connector is identified through the image sensor, and the optical disc replaces a code disc in the prior art, so that the code disc-free encoder is realized; and obtaining a virtual circle track generated when the light spot of the light source rotates along with the shaft to be measured by using the micro-processing module, and obtaining the current rotation angle information of the light source through the inversion of the relative position of the real-time light spot gray scale centroid and the virtual circle track, thereby obtaining the rotation angle of the shaft to be measured and further realizing the function of measuring the rotation angle by using a codeless encoder.
Drawings
FIG. 1 is a schematic structural diagram of a codeless encoder provided by the present invention;
FIG. 2 is a schematic structural diagram of a codeless encoder in an embodiment of the present invention;
wherein the reference numbers in the drawings of the specification are as follows:
1. a spindle connector; 2. a spot disk; 3. a light source; 4. an image sensor; 5. a light shield; 6. a microprocessor module; 7. and (5) a shaft to be measured.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, a codeless disk encoder according to a preferred embodiment of the present invention includes a spindle connector 1, a spot disk 2, a light source 3, an image sensor 4, a light shield 5, and a microprocessor module 6.
The light source 3 is arranged on the spot disc 2, the spot disc 2 is arranged at one end of the spindle connector 1, the other end of the spindle connector 1 is used for coaxially connecting a shaft 7 to be measured, and the spindle connector 1 realizes rotary motion through a motor, so that a power source is provided for synchronous rotary motion of the spot disc 2 and the shaft 7 to be measured.
The light shield 5 is used for shielding the spot disc 2 and the image sensor 4 from natural light, so as to ensure that light signals collected by the image sensor 4 are all from the light source 3.
The image sensor 4 is used for acquiring an out-of-focus characteristic image generated by the synchronous rotation of the light source 3 along with the shaft 7 to be measured and sending the out-of-focus characteristic image to the micro-processing module 6; wherein, the image sensor 4 should be kept close to the light source 3 to effectively capture the out-of-focus characteristic image generated when the light source 3 rotates synchronously with the shaft 7 to be measured.
The micro-processing module 6 receives an out-of-focus characteristic image generated when the image sensor 4 shoots the light source 3 and rotates along with the shaft 7 to be measured, when the light source 3 rotates along with the shaft 7 to be measured, the light spot gray scale mass center of the light source 3 can rotate along with the shaft 7 to be measured to generate an imaginary circle track, and current rotation angle information of the light source 3 is obtained through the real-time inversion of the relative position of the light spot gray scale mass center and the imaginary circle track, so that the rotation angle of the shaft 7 to be measured can be obtained.
Referring to fig. 2, the working principle of the codeless encoder of the present embodiment is:
identifying an out-of-focus characteristic image generated by synchronous rotation of the light source 3 on the optical spot disc 2 along with the main shaft connector 1 through the image sensor 4, and replacing a code disc in the prior art with the optical spot disc 2, thereby realizing code disc-free of a code disc encoder;
and obtaining an imaginary circle track generated by the gray scale centroid of the light spot when the light source 3 rotates along with the shaft 7 to be measured by using the micro-processing module 6, and obtaining the current rotation angle information of the light source 3 through the real-time inversion of the relative positions of the gray scale centroid of the light spot and the imaginary circle track, so as to obtain the rotation angle of the shaft 7 to be measured, and further realize the function of measuring the rotation angle without a code disc encoder.
Therefore, the light source 3 is used for identifying the measurement of the rotating angle by the defocusing characteristic image formed by synchronous rotation along with the shaft 7 to be measured, the traditional measurement mechanism is changed, the contradiction between the precision and the size of the traditional codeless encoder is fundamentally solved, the number of related signal processing components is greatly reduced, the structure is obviously optimized, the advantages of high precision and miniaturization are facilitated, the cost is lower, and the reliability is higher.
It should be noted that the micro processing module 6 includes, but is not limited to, an electronic device with an operation function, such as a computer and a processor, and is capable of calculating the current rotation angle information of the light source 3 according to the relative position of the spot gray scale centroid and the imaginary circle trajectory, and further calculating the rotation angle of the axis to be measured 7, which is not described herein again.
In the embodiment of the present invention, the spot disk 2 is provided with a plurality of light source mounting holes for mounting the light source 3 and changing the position of the light source 3 on the spot disk 2, or directly attaching the light source 3 to any position on the surface of the spot disk 2. In this embodiment, the light shield 5 is used for shielding external light to ensure that the light source 3 is the only light source 3 identified by the image sensor 4, so as to ensure that an image shot by the image sensor 4 is an out-of-focus characteristic image generated by the rotation of the light source 3 along with the spindle connector 1, thereby improving the measurement accuracy of the codeless encoder.
In the embodiment of the present invention, the codeless encoder further includes a grating, the grating is disposed between the light source 3 and the image sensor 4, and the image sensor 4 is configured to identify an out-of-focus characteristic image generated by the light source 3 irradiating the grating. By adding a controllable grating between the light source 3 and the image sensor 4 and keeping the grating close enough to the image sensor 4, the light source 3 can illuminate the grating to generate an out-of-focus characteristic image which is recognized by the image sensor 4.
In the embodiment of the invention, the grating is an LCD slit array. By adding a controllable LCD slit array between the light source 3 and the image sensor 4 and keeping the LCD slit array close enough to the image sensor 4, the light source 3 illuminates the LCD slit array to generate an out-of-focus characteristic image and be identified by the image sensor 4.
In the embodiment of the present invention, the image sensor 4 is an industrial camera, a general camera, a CCD image sensor 4, or a CMOS image sensor 4.
In an embodiment of the invention, the light source 3 is a wirelessly powered light source 3 or a wired powered light source 3.
The embodiment of the invention provides a codeless disc encoder, which comprises a main shaft connector 1, a facula disc 2, a light source 3, an image sensor 4, a light shield 5 and a microprocessing module 6, wherein the light shield 5 is arranged on the main shaft connector; the light source 3 is arranged on the spot disc 2, the spot disc 2 is arranged at one end of the main shaft connector 1, the other end of the main shaft connector 1 is coaxially connected with a shaft to be measured 7, and the light shield 5 is used for shielding the spot disc 2 and the image sensor 4 from natural light; the image sensor 4 is used for acquiring an out-of-focus characteristic image generated by the synchronous rotation of the light source 3 along with the shaft 7 to be measured and sending the out-of-focus characteristic image to the micro-processing module 6; the micro-processing module 6 receives an out-of-focus characteristic image generated when the light source 3 rotates along with the shaft 7 to be measured and shot by the image sensor 4, when the light source 3 rotates along with the shaft 7 to be measured, the gray centroid of the light spot generates a virtual circle track, and the current rotation angle information of the light source 3 is obtained through the real-time inversion of the relative position of the gray centroid of the light spot and the virtual circle, so that the rotation angle of the shaft 7 to be measured is obtained. Compared with the prior art, the invention has the following beneficial effects:
(1) the out-of-focus characteristic image generated by the synchronous rotation of the light source 3 on the spot disc 2 along with the main shaft connector 1 is identified through the image sensor 4, the spot disc 2 replaces a code disc in the prior art, an imaginary circle track generated when a light spot of the light source 3 rotates along with the shaft 7 to be measured is obtained through the micro-processing module 6, and rotation angle information is obtained through the rotation angle of the gray scale center of mass of the light spot, so that the code disc-free mode of the encoder is realized.
(2) The micro-processing module 6 is connected with the image sensor 4, the image sensor 4 shoots an out-of-focus characteristic image generated by the light source 3, and the micro-processing module 6 processes the out-of-focus characteristic image to obtain a virtual circle track generated when the light spot of the light source 3 rotates along with the shaft to be measured; and the light source 3 and the main shaft connector 1 synchronously rotate to obtain the rotation angle of the gray scale centroid, the micro-processing obtains the current angle information of the light source 3 according to the rotation angle of the gray scale centroid, so that the rotation angle is obtained according to the current angle information of the light source 3, and the rotation angle measurement function is realized on the basis of no code encoding of a code disc-free encoder.
(3) By using the optical spot disc 2 to replace the encoder code disc in the prior art, the code disc arrangement of the traditional encoder is eliminated, so that the encoder structure is optimized; and the rotation angles of the main shaft connector 1 and the shaft to be measured 7 are obtained by utilizing the inversion of the rotation angle of the spot light gray scale centroid generated on the image sensor 4 by the synchronous rotation of the point light source 3 along with the main shaft connector 1 and the shaft to be measured, so that the codeless encoding of the encoder is realized, the accurate measurement function of the encoder is realized, and the advantages of miniaturization and high accuracy are realized simultaneously.
(4) The light source 3 is utilized to synchronously rotate along with the main shaft connector 1 to form an out-of-focus characteristic image, the out-of-focus characteristic image is shot and processed through the micro-processing module 6, so that the rotation angle measurement is realized, the structure of a related signal processing element is obviously optimized, the advantages of high precision and miniaturization are realized, the cost is lower, and the reliability is higher.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.
Claims (7)
1. A codeless encoder is characterized by comprising a main shaft connector, an optical spot disc, a light source, an image sensor, a light shield and a micro-processing module;
the light source is arranged on the spot disc, the spot disc is arranged at one end of the main shaft connector, the other end of the main shaft connector is used for coaxially connecting a shaft to be measured, and the light shield is used for shielding the spot disc and the image sensor from natural light;
the image sensor is used for collecting an out-of-focus characteristic image generated by the synchronous rotation of the light source along with the shaft to be detected and sending the out-of-focus characteristic image to the micro-processing module; wherein, the image sensor 4 is kept close to the light source 3 to shoot the out-of-focus characteristic image generated when the light source 3 rotates synchronously with the shaft 7 to be measured;
the micro-processing module receives an out-of-focus characteristic image which is shot by the image sensor and generated when the light source rotates along with the shaft to be measured, the light spot gray scale centroid of the light source generates a virtual circle track, and current rotation angle information of the light source is obtained through real-time inversion of the relative positions of the light spot gray scale centroid and the virtual circle track, so that the rotation angle of the shaft to be measured is obtained.
2. The codeless disk encoder of claim 1 wherein the spot disk is provided with a plurality of light source mounting holes for mounting the light source and changing the position of the light source on the spot disk.
3. The codeless encoder of claim 1 wherein the light source is affixed to the spot disk surface.
4. The codeless encoder of claim 1 further including a grating disposed between the light source and the image sensor for capturing an out-of-focus image of features produced by the light source illuminating the grating.
5. The codeless encoder of claim 4 wherein the grating is an LCD slit array.
6. The codeless encoder of claim 1 wherein the image sensor is an industrial camera, a general camera, a CCD image sensor or a CMOS image sensor.
7. The codeless encoder of claim 1 wherein the light source is a wirelessly powered light source or a wired powered light source.
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|---|---|---|---|
| CN201910679648.9A CN110440842B (en) | 2019-07-25 | 2019-07-25 | Encoder without code disc |
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| CN201910679648.9A CN110440842B (en) | 2019-07-25 | 2019-07-25 | Encoder without code disc |
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| CN110440842B true 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 |