CN110879075B - High-resolution incremental code channel detection method - Google Patents
High-resolution incremental code channel detection method Download PDFInfo
- Publication number
- CN110879075B CN110879075B CN201911087933.8A CN201911087933A CN110879075B CN 110879075 B CN110879075 B CN 110879075B CN 201911087933 A CN201911087933 A CN 201911087933A CN 110879075 B CN110879075 B CN 110879075B
- Authority
- CN
- China
- Prior art keywords
- code
- incremental
- increment
- incremental code
- probe
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
- G01D5/12—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 using electric or magnetic means
- G01D5/244—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 using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
- G01D5/24457—Failure detection
Abstract
The invention discloses a high-resolution incremental code channel detection method. The detection method disclosed by the invention comprises the following steps of: determining the required resolution and the distance between adjacent round holes on the incremental code track; selecting an incremental code channel; selecting a probe head group; making an incremental coding table; detecting the incremental code channel by the detection head group to obtain an incremental code; judging whether the currently detected incremental code is valid or not according to an incremental code table, if the currently detected incremental code is invalid, re-detecting an incremental code channel, and if the currently detected incremental code is valid, modifying an incremental distance value by combining the previously detected valid incremental code, and then detecting the incremental code channel; the detection method adopted by the invention improves the resolution ratio to the radius of the light spot of the detecting head, and is greatly improved compared with the traditional scanning method.
Description
Technical Field
The invention relates to the technical field of position measurement, in particular to a high-resolution incremental code channel detection method.
Background
At present, a grating ruler measurement technology is widely used in the field of position measurement.
It is common that two code channel absolute grating chi, its structure is: it is composed of only two code channels, one is absolute code channel and the other is incremental code channel. The working principle is as follows: the code reader reads the absolute code channel and scans the incremental code channel at the same time to respectively obtain the absolute code and the incremental value, the absolute code generally obtains a rough absolute distance value through table lookup, and then the absolute position with high resolution can be obtained by combining the incremental distance value with high resolution. The defects of scanning the incremental code tracks by using the traditional scanning mode are as follows: the resolution is generally the distance between adjacent circular holes on the incremental code track, and the highest resolution is only the diameter of the light spot of the probe head.
Disclosure of Invention
The invention provides a high-resolution incremental code channel detection method in order to overcome the defects of low resolution and the like of the traditional scanning mode.
The invention relates to a high-resolution incremental code channel detection method, which specifically comprises the following steps:
step one, determining a required resolution ratio R and an adjacent round hole distance L on an incremental code track;
step two, selecting an incremental code channel;
step three, selecting a probe group;
step four, making an incremental coding table;
moving the probe head group, detecting the incremental code channel and obtaining the incremental code;
step six, judging whether the currently detected incremental code is effective or not according to the incremental code table; if the code is invalid, ignoring the currently detected code, and then performing the fifth step; if the incremental distance value is valid, combining the previous detected valid incremental code, and determining the incremental distance value plus R or minus R according to an incremental code table;
the resolution ratio R and the distance L between adjacent round holes on the incremental code track need to meet the following requirements: l is required to be greater than or equal to 4R and is an integral multiple of R; the incremental code channels need to satisfy: round holes with the radius of R are distributed on the incremental code channel at equal intervals, and the interval distance between every two adjacent round holes is L; the number of the probe heads in the probe head group is N, N is equal to L/R, and the probe heads are distributed at equal intervals, and the distance is L + R.
Preferably, the probe is divided into a transmitting tube and a receiving tube, the circular light spot radius of the probe is R, when the receiving tube of the probe is irradiated, the high level is output, and when the receiving tube of the probe is not irradiated, the low level is output.
Preferably, the incremental code table is made by aligning any one of the probe heads in the probe head group with any one of the circular holes on the incremental code track to ensure that the light spot passes through the circular hole, then moving the ruler along any one end of the ruler for N times, wherein the moving distance is R each time, and recording the corresponding incremental code after each movement, thereby obtaining the incremental code table containing N incremental codes.
Preferably, the incremental code is obtained by detecting the incremental code track by the probe head group, and regarding the high level output by the probe head as binary 1, the low level output by the probe head as binary 0, and regarding the output of the leftmost probe head as the highest bit of the binary code, thereby obtaining the incremental code with the length of N.
Preferably, the manner of detecting whether the delta coding is the effective delta coding is as follows: if the detected increment code is in the increment code table, the increment code is considered to be valid, otherwise, the increment code is considered to be invalid;
preferably, the basis for determining whether the incremental distance value is to add R or subtract R is: if the ruler moves towards the bottom end, the incremental distance value is increased, and if the ruler moves towards the top end, the incremental distance value is decreased, and the incremental code table is obtained under the condition of moving towards the bottom end of the ruler. In the above case, if the previous detected valid delta code is equal to the delta code to the left of the currently detected valid delta code in the delta code table, then the delta distance value is incremented by R; otherwise, if the previous detected valid delta code is equal in the delta code table to the delta code to the right of the currently detected valid delta code, the delta distance value is decreased by R. There are two special cases to be addressed: if the currently detected effective increment code is the leftmost increment code in the increment code table and the previously detected effective increment code is the rightmost increment code in the increment code table, adding R to the increment distance value; if the currently detected effective increment code is the rightmost increment code in the increment code table and the previously detected effective increment code is the leftmost increment code in the increment code table, the increment distance value is decreased by R;
the invention has the advantages that the invention adopts a high-resolution detection method to detect the incremental code channel and obtains the high-resolution incremental distance value, the resolution is the radius of the light spot of the detecting head, and the highest resolution which can be obtained by the traditional scanning mode is the diameter of the light spot of the detecting head, so the detection mode is improved compared with the traditional scanning mode.
Drawings
FIG. 1 is a schematic flow chart of the detection method of the present invention;
FIG. 2 is a schematic diagram of a portion of an incremental track selected when R is 1 mm and L is 6 mm;
FIG. 3 is a schematic diagram of a selected probe tube set with R at 1 mm and L at 6 mm;
FIG. 4 is a schematic view of a probe head selected for R of 1 mm and L of 6 mm;
FIG. 5, FIG. 6, FIG. 7, FIG. 8, FIG. 9, FIG. 10, FIG. 11 describe a process of making an incremental encoding table where R is 1 millimeter and L is 6 millimeters;
FIG. 12, FIG. 13, FIG. 14, FIG. 15, FIG. 16, FIG. 17 describe the movement of the probe head set toward the bottom end of the ruler by 2 mm in the case where R is 1 mm and L is 6 mm;
in the figure, 1, a steel tape ruler, 2, an incremental code channel, 3, a transmitting tube of a detecting head, 4, a receiving tube of the detecting head, T1-T6, are all the detecting heads, C1-C13 are all round holes with the radius of 1 mm, a-g are 1 mm scale marks for auxiliary description, and an arrow in the figure points to the top end of the steel tape ruler.
Detailed Description
The present invention is described in further detail below with reference to fig. 1.
The detection method provided by the invention comprises the following steps:
1. determining the required resolution ratio R and the distance L between adjacent round holes on the incremental code track;
2. selecting an incremental code channel;
3. selecting a probe head group;
4. making an incremental coding table;
5. detecting the incremental code channel by the detection head group to obtain an incremental code;
6. judging whether the currently detected incremental code is valid or not according to the incremental code table; if the incremental code is invalid, ignoring the currently detected incremental code, and then performing the step 5; if the incremental distance value is valid, determining the incremental distance value plus R or minus R by combining the previous detected valid incremental code, and then performing the step 5;
1. aligning the probe head T1 in the probe head group with the round hole C4 on the incremental code track to ensure that the light spot just passes through the round hole, as shown in FIG. 5;
2. moving the ruler to the bottom direction for 1 mm, reading the output of the probe head group, and obtaining the increment code 100011, as shown in fig. 6;
3. moving the ruler to the bottom end direction for 1 mm, reading the output of the probe head group, and obtaining the increment code of 000111 as shown in FIG. 7;
4. moving the ruler to the bottom end direction for 1 mm, reading the output of the probe head group, and obtaining the increment code 001110, as shown in fig. 8;
5. moving the ruler to the bottom end direction for 1 mm, reading the output of the probe head group, and obtaining the increment code of 011100, as shown in FIG. 9;
6. moving the ruler to the bottom of the ruler for 1 mm, reading the output of the probe head group, and obtaining the increment code of 111000, as shown in FIG. 10;
7. moving the ruler to the bottom direction for 1 mm, reading the output of the probe group, and obtaining the increment code of 110001 as shown in FIG. 11;
thus, an incremental coding table containing 6 binary codes is obtained, which is from left to right: 100011, 000111, 001110, 011100, 111000, 110001;
step 5 and step 6, the process that the detection head group moves 2 mm to the bottom end of the ruler is taken as an example for description, incremental coding and incremental distance value change are described, and the position of the circle center of a light spot of the detection head T1 is taken as the position of the detection head group;
1. referring to fig. 12, the initial position of the probe head set is d, the incremental code is 000111, and the code distance value at this time is set to X mm;
2. as shown in fig. 13, in the following distance d to e, it is detected that the incremental code is 001111, but the incremental code is not in the incremental code table, and therefore is not a valid incremental code, and the detection head continues to detect ignoring the incremental code;
3. as in fig. 14, the set of probes detects a valid delta encoding 001110 at e; combining the previous effective increment code 000111, judging that the increment distance value should be added by 1 mm to be X +1 mm;
4. as shown in fig. 15, in the following distance from e to f, it is detected that the delta codes are 011110, but the delta codes are not in the delta code table, so that the delta codes are not valid delta codes, and the detection head continues to detect ignoring the delta codes;
5. as in fig. 16, the probe head set detects the incremental code 011100 at f; combining the previous increment code 001110, judging that the increment distance value should be added by 1 to be X +2 mm;
6. in the following distance f to g, as shown in fig. 17, the detected delta codes are 111100, but the delta codes are not in the delta code table, so that the delta codes are not valid delta codes, and the detection is continued by ignoring the delta codes.
Claims (6)
1. A high-resolution incremental code channel detection method is characterized by comprising the following steps:
step one, determining a required resolution ratio R and an adjacent round hole distance L on an incremental code track;
step two, selecting an incremental code channel;
step three, selecting a probe group;
step four, making an incremental coding table;
moving the probe head group, detecting the incremental code channel and obtaining the incremental code;
step six, judging whether the currently detected incremental code is effective or not according to the incremental code table; if the code is invalid, ignoring the currently detected code, and then performing the fifth step; if the incremental distance value is valid, combining the previous detected valid incremental code, and determining the incremental distance value plus R or minus R according to an incremental code table;
the resolution ratio R and the distance L between adjacent round holes on the incremental code track need to meet the following requirements: l is required to be greater than or equal to 4R and is an integral multiple of R; the incremental code channels need to satisfy: round holes with the radius of R are distributed on the incremental code channel at equal intervals, and the interval distance between every two adjacent round holes is L; the number of the probe heads in the probe head group is N, N is equal to L/R, and the probe heads are distributed at equal intervals, and the distance is L + R.
2. The method as claimed in claim 1, wherein the probe is divided into a transmitting tube and a receiving tube, the circular light spot of the probe has a radius of R, and the receiving tube outputs a high level when the probe is illuminated and outputs a low level when the probe is not illuminated.
3. The method as claimed in claim 1, wherein the incremental code table is prepared by aligning any one of the probes in the probe set with any one of the circular holes on the incremental code table to ensure that the light spot passes through the circular hole, moving the ruler along any one end of the ruler N times, wherein the distance of movement is R each time, and recording the corresponding incremental code after each movement, thereby obtaining the incremental code table containing N incremental codes.
4. The method as claimed in claim 1, wherein the incremental code is obtained by detecting the incremental code with the probing head group, and considering the high level output from the probing head as binary 1, the low level output from the probing head as binary 0, and the leftmost output from the probing head as the highest bit of the binary code, thereby obtaining the incremental code with length N.
5. The method as claimed in claim 1, wherein the detecting whether the incremental code is valid incremental code is performed by: and if the detected increment code is in the increment code table, the increment code is considered to be valid, otherwise, the increment code is considered to be invalid.
6. The method as claimed in claim 1, wherein the basis for determining whether the incremental distance value is added or subtracted by R is: if the ruler moves towards the bottom end of the ruler, the incremental distance value is increased, and if the ruler moves towards the top end of the ruler, the incremental distance value is decreased, and the incremental code table is obtained under the condition of moving towards the bottom end of the ruler; in the above case, if the previous detected valid delta code is equal to the delta code to the left of the currently detected valid delta code in the delta code table, then the delta distance value is incremented by R; otherwise, if the previous detected effective increment code is equal to the increment code on the right side of the currently detected effective increment code in the increment code table, the increment distance value is decreased by R; there are two special cases to be addressed: if the currently detected effective increment code is the leftmost increment code in the increment code table and the previously detected effective increment code is the rightmost increment code in the increment code table, adding R to the increment distance value; and if the currently detected effective increment code is the rightmost increment code in the increment code table and the previously detected effective increment code is the leftmost increment code in the increment code table, the increment distance value is decreased by R.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911087933.8A CN110879075B (en) | 2019-11-08 | 2019-11-08 | High-resolution incremental code channel detection method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911087933.8A CN110879075B (en) | 2019-11-08 | 2019-11-08 | High-resolution incremental code channel detection method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110879075A CN110879075A (en) | 2020-03-13 |
| CN110879075B true CN110879075B (en) | 2021-06-22 |
Family
ID=69729147
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911087933.8A Active CN110879075B (en) | 2019-11-08 | 2019-11-08 | High-resolution incremental code channel detection method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110879075B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH03285113A (en) * | 1990-04-02 | 1991-12-16 | Nikon Corp | 1-track absolute encoder capable of detecting absolute position when electricity is supplied |
| CN2596322Y (en) * | 2002-12-05 | 2003-12-31 | 长春华特光电技术有限公司 | Absolute photoelectric encoding rule |
| CN1598486A (en) * | 2004-09-10 | 2005-03-23 | 北京交通大学 | Method for encoding absolute position |
| CN102062614A (en) * | 2009-11-14 | 2011-05-18 | 安华高科技Ecbuip(新加坡)私人有限公司 | High resolution optical encoder systems, devices and methods |
| CN104006833A (en) * | 2013-02-25 | 2014-08-27 | 北斗导航科技有限公司 | Code disc, rotary encoder, coding method and equipment with encoder |
| CN108362208A (en) * | 2018-04-02 | 2018-08-03 | 广州数控设备有限公司 | A kind of pseudorandom code channel grating scale and its read method |
| CN110207596A (en) * | 2019-06-21 | 2019-09-06 | 广东工业大学 | A kind of image encoding method, optical grating ruler measurement device and measurement method |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8736700B2 (en) * | 2010-09-30 | 2014-05-27 | Apple Inc. | Techniques for synchronizing audio and video data in an image signal processing system |
-
2019
- 2019-11-08 CN CN201911087933.8A patent/CN110879075B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH03285113A (en) * | 1990-04-02 | 1991-12-16 | Nikon Corp | 1-track absolute encoder capable of detecting absolute position when electricity is supplied |
| CN2596322Y (en) * | 2002-12-05 | 2003-12-31 | 长春华特光电技术有限公司 | Absolute photoelectric encoding rule |
| CN1598486A (en) * | 2004-09-10 | 2005-03-23 | 北京交通大学 | Method for encoding absolute position |
| CN102062614A (en) * | 2009-11-14 | 2011-05-18 | 安华高科技Ecbuip(新加坡)私人有限公司 | High resolution optical encoder systems, devices and methods |
| CN104006833A (en) * | 2013-02-25 | 2014-08-27 | 北斗导航科技有限公司 | Code disc, rotary encoder, coding method and equipment with encoder |
| CN108362208A (en) * | 2018-04-02 | 2018-08-03 | 广州数控设备有限公司 | A kind of pseudorandom code channel grating scale and its read method |
| CN110207596A (en) * | 2019-06-21 | 2019-09-06 | 广东工业大学 | A kind of image encoding method, optical grating ruler measurement device and measurement method |
Non-Patent Citations (1)
| Title |
|---|
| 《高速高冲击性小型增量式光电编码器的研制》;陈赟等;《电子测量与仪器学报》;中国电子学会;20131030;第27卷(第10期);第916-921页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110879075A (en) | 2020-03-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US5023434A (en) | Position indicating apparatus for transporters on tracks | |
| CN101464131B (en) | Position measuring device and method for determining an absolute position | |
| US20070256313A1 (en) | Scale Reading Apparatus | |
| CN108362208B (en) | Pseudo-random code channel grating ruler and reading method thereof | |
| CN109579711B (en) | Absolute position displacement sensor grating absolute position encoding and decoding method | |
| MXPA04000910A (en) | Lift system comprising a measuring system for determining the absolute position of the cage. | |
| BR8206435A (en) | DISPLACEMENT MEASUREMENT DEVICE | |
| CN106122162B (en) | Fluid cylinder | |
| JP2006226987A (en) | Photoelectric encoder and scale therefor | |
| US8022354B2 (en) | Absolute position length measurement type encoder | |
| US20170023383A1 (en) | Absolute position determination | |
| EP4109048A1 (en) | Linear displacement absolute position encoder | |
| CN110879075B (en) | High-resolution incremental code channel detection method | |
| CN101750108B (en) | Absolute position encoder | |
| CN110440688B (en) | Absolute grating ruler reference position measuring method and system | |
| SE0002777D0 (en) | Apparatus and method for determining two parts which are movable relative to each other | |
| JP4885630B2 (en) | Two-dimensional encoder and its scale | |
| WO2007057645A1 (en) | Scale and readhead apparatus and method | |
| US6920699B2 (en) | Device for and method for detecting a relative movement between two machine parts which are movable relative to one another | |
| US20030069707A1 (en) | Linear scale reader | |
| EP3141874B1 (en) | Absolute position detection type photoelectric encoder | |
| CN110954145B (en) | Detection device and method for incremental code channel | |
| CN101672661B (en) | One-dimensional absolute position coding system | |
| CN114604296B (en) | Positioning system and method for magnetic levitation train | |
| US8912793B2 (en) | Linear position measuring system and method for determining the absolute position of a carriage along a slide rail |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |