CN110954145A - Detection device and method for incremental code channel - Google Patents
Detection device and method for incremental code channel Download PDFInfo
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- CN110954145A CN110954145A CN201911261360.6A CN201911261360A CN110954145A CN 110954145 A CN110954145 A CN 110954145A CN 201911261360 A CN201911261360 A CN 201911261360A CN 110954145 A CN110954145 A CN 110954145A
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- 238000001514 detection method Methods 0.000 title claims abstract description 23
- 238000000034 method Methods 0.000 title claims abstract description 12
- 239000000523 sample Substances 0.000 claims abstract description 40
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 20
- 239000010959 steel Substances 0.000 claims abstract description 20
- 230000003247 decreasing effect Effects 0.000 claims description 4
- 238000005259 measurement Methods 0.000 abstract description 8
- 238000010586 diagram Methods 0.000 description 3
- 230000008094 contradictory effect Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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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
Abstract
The invention discloses a device and a method for detecting an incremental code channel, wherein the device comprises a steel tape ruler and a probe head group; the detecting head group detects the incremental code channel to obtain effective incremental codes, and then changes the incremental distance value by combining the former detected effective incremental codes and the incremental code ring; the steel tape ruler is provided with an incremental code channel, the incremental code channel is composed of a plurality of equally-spaced round small holes with the radius of R, the spacing distance is L, and L is an integral multiple of R and is more than or equal to 8R; the probe group consists of N probes at equal intervals, wherein N is L/R-4, and the interval distance is L + R; the probe is divided into a transmitting tube and a receiving tube, the transmitting tube generates a light spot, and the radius of the light spot is R; under the condition of keeping the distance between the adjacent small holes unchanged, the invention can improve the measurement resolution to the light spot radius of the detecting head by increasing a small number of detecting heads, and compared with the traditional incremental code channel detection method, the measurement resolution is improved.
Description
Technical Field
The invention relates to the technical field of position measurement, in particular to a device and a method for detecting an incremental code channel.
Background
Incremental position detection techniques are widely used in various fields. Encoders using incremental position detection techniques are known as incremental rotary encoders and linear absolute encoders. In the incremental rotary encoder, the rotation angle value is obtained by accumulating the number of the small holes on the incremental code track. In a linear absolute encoder, the incremental code track has two purposes: 1. and obtaining a high-resolution distance value, 2, and improving the measuring range of the encoder. For example, in the case of a single-track absolute encoder, the resolution and the measurement distance are contradictory, that is, if the resolution is increased, the measurement distance is shortened, and if the measurement distance is increased, the resolution is decreased, and in this case, the contradiction can be solved by adding an incremental track to form a double track.
The traditional incremental code channel detection method is to scan the incremental code channel by a single probe head, and change the incremental distance value when a small hole is met. The resolution of the detection mode is the distance between adjacent small holes on the incremental code track, and the highest resolution is only the diameter of the light spot of the detection head, so the resolution of the detection mode is lower.
Disclosure of Invention
The invention provides a device and a method for detecting an incremental code channel, aiming at overcoming the defects of low resolution and the like in the prior art.
A detection device for incremental code channels comprises a steel tape ruler and a detection head group; the detecting head group detects the incremental code channel to obtain effective incremental codes, and then changes the incremental distance value by combining the former detected effective incremental codes and the incremental code ring;
the steel tape ruler is provided with an incremental code channel, the incremental code channel is composed of a plurality of round small holes with equal intervals and R radius, the interval distance is L, and L is an integral multiple of R and is more than or equal to 8R.
The probe group consists of N probes at equal intervals, wherein N is L/R-4, and the interval distance is L + R.
The probe is divided into a transmitting tube and a receiving tube, the transmitting tube generates light spots, the radius of each light spot is R, when the receiving tube is illuminated, a high level is output and is regarded as binary 1, and when the receiving tube is not illuminated, a low level is output and is regarded as binary 0.
Preferably, the incremental code is a binary code with the length of N, and the output of the detection head closest to the top end of the steel tape ruler in the detection head group is used as the highest bit of the binary code.
A detection method of a detection device of an incremental code channel specifically comprises the following steps:
detecting an incremental code channel by a probe head group to obtain an incremental code;
step two, judging whether the incremental code is effective or not according to the incremental code table, if the incremental code is invalid, repeating the step one, and if the incremental code is effective, performing the step three;
changing an increment distance value according to the current increment code and by combining the last detected effective increment code and the increment code ring;
the incremental coding ring is divided into N circular arcs, and then incremental codes in the incremental coding table are sequentially placed into the circular arcs in the ring one by one in the clockwise direction;
the delta encoding table is obtained as follows:
And 2, moving the probe head group to any end of the steel band ruler by R/2.
Moving the probe head group towards any end of the steel band ruler for M times, wherein M is L/R, the moving distance is R each time, and sequentially recording incremental codes before moving each time to obtain an incremental code table;
the method for changing the increment distance value comprises the following steps: if the ruler moves towards the bottom end of the ruler, the incremental distance value is increased; moving towards the top end of the ruler, and reducing the incremental distance value; and the incremental coding table is obtained under the condition of moving towards the bottom end of the ruler;
in the above case, if the currently detected valid increment code is an increment code in the increment code ring in the clockwise direction of the previous detected valid increment code, the increment distance value is added with R; if the currently detected valid incremental code is encoded in the incremental code ring for the incremental code in the counter-clockwise direction of the previously detected valid incremental code, the incremental distance value is decreased by R.
The mode for detecting whether the incremental code is effective is as follows: and if the detected increment code is in the increment code table, the increment code is considered to be effective.
The reason why the incremental code table needs to be moved by R/2 distance in the manufacturing step is as follows:
the distance between adjacent small holes is L, and the radius of the small holes is R. Any one of the detecting heads is aligned with any one of the small holes, and the incremental distance value is increased when the detecting head slides to the bottom end of the steel tape ruler, otherwise, the incremental distance value is decreased. At this time, the circle center of the aligned small hole is regarded as a scale X, and then the scale at the circle center of the adjacent small hole towards the bottom end direction of the steel tape ruler is X + L, and the following scales are provided between the two scales: x + R, X +2R, … …, X + L-2R, X + L-R. And the center of the light spot aligned with the probe head is regarded as the position of the probe head group.
When any adjacent small hole moves, the obtained incremental code has the following rule:
1. the number of detected different incremental codes is necessarily greater than or equal to L/R;
2. the number of scales between the centers of two adjacent small holes (including the centers of the two small holes) is L/R +1, namely, the distance between the two adjacent small holes is divided into L/R sections at equal intervals, each section is represented as (X, X + R), (X + R, X +2R), … …, (X + L-2R, X + L-R), (X + L-R, X + L), note that the symbol () at the position indicates that the scale is not included, and the symbol [ indicates that the scale is included, the detected incremental codes are the same when the section moves, and the incremental codes corresponding to the distances of each section are different.
For example: the incremental codes detected when the probe head group is located in the (X, X + R) section are all A, the incremental codes detected when the probe head group is located in the (X + R, X +2R) section are all B, the incremental codes detected when the probe head group is located in the (X + L-2R, X + L-R) section are all C, the incremental codes detected when the probe head group is located in the (X + L-R, X + L) section are all D, and the incremental codes A, B, C, D are different from each other.
3. For the scale, the incremental code of the position may be equal to the incremental code corresponding to the left segment, may be equal to the incremental code corresponding to the right segment, or may correspond to a unique incremental code alone.
From rule 3, since the incremental code at the scale is uncertain. If the increment codes corresponding to the scales are used to make the increment code table, some increment codes may correspond to a distance of 2R instead of R. Therefore, the corresponding increment codes in the segments are used to make the increment code table. R/2 is shifted so that the detected delta code is the corresponding delta code within the segment.
The invention has the advantages that the invention adopts a mode of jointly detecting the incremental code channels by a plurality of detecting heads to obtain higher resolution, the resolution is the radius of light spots of the detecting heads, and the number of the required detecting heads is L/R-4. By using the detection method of the invention, under the condition of keeping the distance between the adjacent small holes unchanged, the measurement resolution can be improved to the light spot radius of the detecting head by adding a small number of detecting heads, and compared with the traditional incremental code channel detection method, the measurement resolution is improved.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a schematic flow diagram;
FIG. 2 is a schematic view of a portion of a steel tape rule and probe set with R of 1 mm and L of 8 mm;
FIGS. 3 to 10 are schematic diagrams illustrating the steps of making an incremental code table in the case where R is 1 mm and L is 8 mm;
FIGS. 11 to 18 are diagrams illustrating steps of creating an incremental code table for explaining the reason of R/2 shift in the case where R is 1 mm and L is 8 mm;
FIG. 19 is a schematic view of an incremental encoder ring with R at 1 mm and L at 8 mm;
FIGS. 20 to 24 are schematic views for describing the detection steps in the case where R is 1 mm, L is 8 mm;
in the figure, 1, a steel tape ruler, 2, a circular small hole with the radius of 1 mm, 3, a transmitting tube of a detecting head, 4, a receiving tube of the detecting head, T1-T4 are the detecting heads, a-h are 1 mm scale marks for auxiliary description, and the direction indicated by an arrow is the top end of the steel tape ruler.
Detailed Description
In this embodiment, the spot radius R of the probe is 1 mm, and the distance L between the circular holes is 8 mm.
As shown in fig. 2, an incremental code channel is arranged on the steel tape ruler, and the incremental code channel is composed of a plurality of round small holes with equal intervals and a radius of 1 mm, and the interval distance is 8 mm.
As shown in fig. 2, the probe head set consists of 4 probe heads equally spaced by 9 mm. The probe is divided into a transmitting tube and a receiving tube, the transmitting tube generates a light spot, the radius of the light spot is 1 mm, when the receiving tube is illuminated, the high level is output and is regarded as binary 1, and when the receiving tube is not illuminated, the low level is output and is regarded as binary 0. The delta code is a binary code of length 4 and the output of probe head T1 in the probe head set is taken as the most significant bit of the binary code.
The incremental code table is obtained by (assuming that moving towards the bottom of the ruler increases the incremental distance value and moving towards the top of the ruler decreases the incremental distance value):
1. the probes T1 in the probe cluster are aligned with any circular aperture in the track to ensure that the spot of light passes right through the circular aperture, as shown in FIG. 2.
2. The probe head set was moved 0.5 mm towards the bottom end of the steel tape rule as shown in fig. 3.
3. As shown in fig. 3 to 10, the probe head set is moved 8 times towards the bottom end of the steel tape ruler, each time the movement distance is 1 mm, and the incremental codes are recorded in sequence before each movement, so that the incremental code table is obtained as follows:
| serial number | Incremental coding (binary form) |
| 1 | 1100 |
| 2 | 1000 |
| 3 | 0000 |
| 4 | 0001 |
| 5 | 0011 |
| 6 | 0111 |
| 7 | 1111 |
| 8 | 1110 |
The following explains why the incremental code table making step needs to be shifted by 0.5 mm by a reverse example:
the process of making the incremental code table is the same as the above, the only difference is that the operation of moving 0.5 mm is not performed, and the obtained incremental code table is as follows, and the specific operation is shown in fig. 11 to 18:
as shown in the table above, the delta codes for serial numbers 3 and 4 are both 0000, meaning that the delta code 0000 will represent a distance of 2 millimeters, which results in a reduced resolution.
The incremental encoder ring is obtained by: the incremental coding ring is divided into 8 circular arcs, and then the incremental codes in the incremental coding table are sequentially placed into the circular arcs in the ring one by one in the clockwise direction, as shown in fig. 19.
The detection step is as shown in fig. 1, and will be described by taking a process that the probing head set moves 3 mm to the bottom end of the ruler as an example, and the position of the center of the light spot of the probing head T1 is taken as the position of the probing head set;
1. as shown in fig. 20, the initial position of the probe head set is a, the effective increment code is 1100, and the increment distance value at this time is Z;
2. as shown in fig. 21, in the following distance from a to b, the incremental code is detected to be 1100, and the detection is continued without modifying the incremental distance value;
3. as shown in fig. 22, within the following distance from b to c, the detected increment codes are all 1000, and because in the increment code table, the increment codes are valid increment codes, and in combination with the previously detected valid increment code 1100 and the increment code ring, it is determined that the increment distance value should be increased by 1 mm to be Z +1 mm;
4. as shown in fig. 23, within the next distance from c to d, the detected increment codes are 0000, and are valid increment codes in the increment code table, and in combination with the previously detected valid increment code 1000 and the increment code ring, it is determined that the increment distance value should be increased by 1 mm to be Z +2 mm;
5. as shown in fig. 24, within the next distance d to e, the detected increment codes are all 0001, and are valid increment codes in the increment code table, and in combination with the previously detected valid increment code 0000 and the increment code ring, it is determined that the increment distance value should be increased by 1 mm to be Z +3 mm.
Claims (4)
1. The utility model provides a detection device of increment code track which characterized in that: comprises a steel band ruler and a probe group; the detecting head group detects the incremental code channel to obtain effective incremental codes, and then changes the incremental distance value by combining the former detected effective incremental codes and the incremental code ring;
the steel tape ruler is provided with an incremental code channel, the incremental code channel is composed of a plurality of equally-spaced round small holes with the radius of R, the spacing distance is L, and L is an integral multiple of R and is more than or equal to 8R;
the probe group consists of N probes at equal intervals, wherein N is L/R-4, and the interval distance is L + R;
the probe is divided into a transmitting tube and a receiving tube, the transmitting tube generates light spots, the radius of each light spot is R, when the receiving tube is illuminated, a high level is output and is regarded as binary 1, and when the receiving tube is not illuminated, a low level is output and is regarded as binary 0.
2. The apparatus for detecting incremental code channels as claimed in claim 1, wherein: the incremental code is a binary code with the length of N, and the output of a detection head closest to the top end of the steel tape ruler in the detection head group is used as the highest bit of the binary code.
3. The method as claimed in claim 1, wherein the method comprises the following steps:
detecting an incremental code channel by a probe head group to obtain an incremental code;
step two, judging whether the incremental code is effective or not according to the incremental code table, if the incremental code is invalid, repeating the step one, and if the incremental code is effective, performing the step three;
changing an increment distance value according to the current increment code and by combining the last detected effective increment code and the increment code ring;
the incremental coding ring is divided into N circular arcs, and then incremental codes in the incremental coding table are sequentially placed into the circular arcs in the ring one by one in the clockwise direction;
the delta encoding table is obtained as follows:
step 1, aligning any probe in the probe group to any round small hole on the incremental code channel to ensure that the light spot just passes through the round hole;
step 2, moving the probe head group to any end of the steel band ruler by R/2;
moving the probe head group towards any end of the steel band ruler for M times, wherein M is L/R, the moving distance is R each time, and sequentially recording incremental codes before moving each time to obtain an incremental code table;
the method for changing the increment distance value comprises the following steps: if the ruler moves towards the bottom end of the ruler, the incremental distance value is increased; moving towards the top end of the ruler, and reducing the incremental distance value; and the incremental coding table is obtained under the condition of moving towards the bottom end of the ruler;
in the above case, if the currently detected valid increment code is an increment code in the increment code ring in the clockwise direction of the previous detected valid increment code, the increment distance value is added with R; if the currently detected valid incremental code is encoded in the incremental code ring for the incremental code in the counter-clockwise direction of the previously detected valid incremental code, the incremental distance value is decreased by R.
4. The method as claimed in claim 1, wherein the detecting whether the incremental code is valid is performed by: and if the detected increment code is in the increment code table, the increment code is considered to be effective.
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