CN113686365B - Absolute position measuring device - Google Patents
Absolute position measuring device Download PDFInfo
- Publication number
- CN113686365B CN113686365B CN202111025633.4A CN202111025633A CN113686365B CN 113686365 B CN113686365 B CN 113686365B CN 202111025633 A CN202111025633 A CN 202111025633A CN 113686365 B CN113686365 B CN 113686365B
- Authority
- CN
- China
- Prior art keywords
- absolute
- position information
- code
- incremental
- resolution
- 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
- 238000012937 correction Methods 0.000 claims abstract description 11
- XNPKNHHFCKSMRV-UHFFFAOYSA-N 4-(cyclohexylamino)butane-1-sulfonic acid Chemical compound OS(=O)(=O)CCCCNC1CCCCC1 XNPKNHHFCKSMRV-UHFFFAOYSA-N 0.000 claims description 35
- 238000012545 processing Methods 0.000 claims description 15
- 108091026890 Coding region Proteins 0.000 claims description 12
- 230000003287 optical effect Effects 0.000 claims description 9
- 238000000034 method Methods 0.000 description 41
- 238000005259 measurement Methods 0.000 description 24
- 238000010586 diagram Methods 0.000 description 18
- 230000008569 process Effects 0.000 description 15
- 230000006870 function Effects 0.000 description 10
- 230000006872 improvement Effects 0.000 description 9
- 238000004590 computer program Methods 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 7
- 230000005540 biological transmission Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 239000000470 constituent Substances 0.000 description 2
- 238000000691 measurement method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 229920002799 BoPET Polymers 0.000 description 1
- 239000005041 Mylar™ Substances 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 238000003491 array Methods 0.000 description 1
- 230000001413 cellular effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000007274 generation of a signal involved in cell-cell signaling Effects 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 230000005055 memory storage Effects 0.000 description 1
- 229920001296 polysiloxane Polymers 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
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
- G01D5/26—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
- G01D5/347—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 using displacement encoding scales
- G01D5/34776—Absolute encoders with analogue or digital scales
- G01D5/34792—Absolute encoders with analogue or digital scales with only digital scales or both digital and incremental scales
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
Abstract
The invention discloses an absolute position measuring device, comprising: the absolute code reading module is used for scanning a code element sequence of the absolute code channel through a sensing unit and generating an initial effective absolute code through operation; the absolute code correction module is used for analyzing and calculating the initial effective absolute code to obtain a corrected final effective absolute code, and calculating or looking up the table on the final effective absolute code to obtain coarse absolute position information; the absolute code channel incremental position information generating module is used for analyzing and calculating the initial effective absolute code to obtain the position information in the single period of the absolute code channel; and the primary high-resolution position information generating module is used for combining the position information in the single period of the absolute code track with the coarse absolute position information to obtain primary high-resolution absolute position information, and indexing the incremental code track through the high-resolution absolute position information to obtain position information with higher resolution.
Description
Technical Field
The invention relates to the technical field of measurement, in particular to an absolute position measuring device.
Background
Position measuring devices are increasingly used in many fields such as numerical control machines, robots, industrial automation, etc. because they can provide angle or length information.
Common position measuring devices mainly include encoders, gratings, and the like, and the operating modes thereof are divided into an incremental mode and an absolute mode. The incremental code at least comprises two code channels of an incremental code channel and a reference code channel. The incremental code channel is uniformly scribed, and angle or position information needs to be obtained by combining a zero signal generated by the reference code channel. The incremental type has the characteristics of simple structure, quick response and easiness in miniaturization, has an error accumulation phenomenon, easily causes data loss when suffering from power failure, and needs to move left and right to obtain a zero signal when being electrified. The absolute type has a fixed zero point, absolute position information can be obtained by electrifying, the anti-interference capability is strong, and no accumulated error exists. The absolute code mainly includes gray code, pseudo-random code, manchester code, and the like. Gray code coding mode is almost eliminated by the market in recent years because of more code channels, the reading units are arranged tightly along the radial direction and are not easy to miniaturize. The use of a pseudo-random code index increment code track is the predominant encoding scheme for absolute position measurement devices. The pseudo-random code has uniqueness in the code sequence, the increment code channel position corresponding to the current measuring device can be obtained by reading the index code channel information through the photoelectric sensor, and the increment position information is further subdivided, so that more accurate position information can be obtained. However, since the directly read pseudo random code cannot be subdivided, the pseudo random code width must be consistent with the delta code width, otherwise accurate indexing cannot be achieved.
Further, miniaturization and absolute miniaturization are trends in position measuring devices. The single-code-channel absolute type scheme is advocated, most of the current single-code-channel absolute type measurement technologies adopt a CCD (charge coupled device) for signal acquisition, but the subdivision capability is limited, and the resolution ratio is difficult to reach a higher level. Meanwhile, due to the restriction of factors such as signal acquisition and processing speed, absolute position data cannot be obtained in real time.
In view of the current state of absolute measurement technology, the use of an absolute track index incremental track is a preferred solution for the current development of absolute measurement technology. However, when the number of incremental code channels is large, the number of pseudo random code bits needs to be increased to perform correct indexing, and the production cost is increased. Therefore, there is a need to develop a highly universal absolute code channel subdivision measurement technique for indexing high-line number incremental code channels to achieve higher resolution position measurement.
Disclosure of Invention
The present invention is directed to an absolute position measuring device, which solves the above problems of the prior art.
The present invention provides an absolute position measuring device, including:
an absolute code track comprising a sequence of symbols having a first characteristic and a second characteristic arranged non-periodically;
an incremental code track comprising a sequence of symbols having a first characteristic and a second characteristic arranged periodically;
the absolute code reading module is used for scanning the code element sequence of the absolute code channel through the sensing unit and generating an initial effective absolute code through operation;
the absolute code correction module is used for analyzing, operating and processing the initial effective absolute codes to obtain corrected final effective absolute codes, and operating or looking up the table on the final effective absolute codes to obtain coarse absolute position information;
an absolute code channel increment position information generating module, which is used for analyzing and calculating the initial effective absolute code to obtain the position information in the single period of the absolute code channel;
and the primary high-resolution position information generating module is used for combining the position information of the absolute code channel in the single period with the coarse absolute position information to obtain primary high-resolution absolute position information, and indexing the incremental code channel through the high-resolution absolute position information to obtain position information with higher resolution.
The incremental code channel position information generating module is used for processing the analog signal generated by scanning the incremental code channel to obtain sine and cosine signals, and generating position information in the single period of the incremental code channel through subdivision operation;
and the advanced high-resolution position information generating module is used for indexing the primary high-resolution absolute position information into an incremental code channel scribing period and generating absolute position information with higher resolution by combining the position information in the incremental code channel single period.
The embodiment of the invention has the advantages of both absolute measurement and incremental measurement, can obtain a position measurement result with high resolution by electrifying, and simultaneously can mutually check the position information generated by the absolute code channel and the position information generated by the incremental code channel, thereby improving the accuracy of position measurement.
The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic diagram of an absolute position measurement device according to an embodiment of the present invention;
FIG. 2a is a schematic diagram of scheme 1 of an absolute code channel and an incremental code channel according to an embodiment of the present invention;
FIG. 2b is a schematic diagram of scheme 2 of an absolute code channel and an incremental code channel according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of an embodiment of a scanning device for scanning a single code channel measurement reference unit to generate an analog signal;
FIG. 4 is a schematic diagram of an absolute code reading module according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of the operation of an absolute code correction module according to an embodiment of the present invention;
fig. 6 is a schematic diagram of an absolute code track increment position information generation module according to an embodiment of the present invention.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are some, but not all, embodiments of the present invention. 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.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise. Furthermore, the terms "mounted," "connected," and "coupled" are to be construed broadly and may include, for example, fixed connections, removable connections, or integral connections; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
According to an embodiment of the present invention, an absolute position measuring device is provided, fig. 1 is a schematic diagram of an absolute position measuring device according to an embodiment of the present invention, as shown in fig. 1, the absolute position measuring device according to an embodiment of the present invention specifically includes:
an absolute track 1 comprising a sequence of symbols having a first characteristic and a second characteristic arranged non-periodically; the absolute code track 1 adopts a Manchester code to carry out coarse coding, wherein the width of each Manchester code is B, the Manchester code with the width of B corresponds to CA or CB in the absolute code track, the CA consists of two groups of optical characteristic units of a light-transmitting part T1 and a light-tight part T2 which are equal in width, one group of T1 and one group of T2 are provided, each group of width P1= B/2, the CB is divided into a group of light-transmitting part T1 and a group of light-tight part T2, the width of the light-transmitting part is P1/2, and the width of the light-tight part is 3P 1/2. The code element sequence of the absolute code track 1 adopts the sequence combination of 1010 and 1000, 1011 0100100101, 0100 0100100101, 0111, 101010 and 101000 or 10101010 and 10100000.
An incremental code track 2 comprising a sequence of symbols having a first characteristic and a second characteristic arranged periodically; the incremental code track 2 is composed of two optical characteristic units, namely a light-transmitting part T1 and a light-proof part T2, the scribed line interval P2= P1/N of the incremental code track, or P2= P1, wherein N is a positive integer larger than 1;
an absolute code reading module 5 for passing the sensing unit D of the scanning element 31~DnScanning the code element sequence of the absolute code channel 1, and generating an initial effective absolute code through operation; the sensing units in the scanning element for generating coarse absolute position information and absolute track increment position information are adjacent to each other, the sensing units in the symbol sequences CA and CB are each used for generating coarse absolute position information, and the sensing units in the symbol sequence CA are used for generating absolute track increment position information.
The absolute code reading module 5 specifically includes:
the differential operation unit comprises s +1 differential modules and is used for sequentially generating analog signals A for the corresponding sensing units of the adjacent two sensing units at intervals of 3 in the period through the corresponding ith differential moduleiAnd Ai+4Performing difference operation to obtain difference results RCiWherein i =1, 2, 3, … …, s, s is an integer greater than or equal to 4;
the numerical value judging unit comprises s judging modules which are connected with the differential operation unit and used for respectively judging the differential result RC through the corresponding ith judging moduleiMaking a judgment if the difference result RCi RCiIf the difference value between the preset value and zero is less than the preset value, the judgment result is 1, otherwise, the judgment result is 0;
the logic and operation unit comprises s/4 operation modules, is connected with the numerical judgment unit and is used for respectively carrying out logic and operation on the four groups of judgment results corresponding to the logic and operation modules through the corresponding operation modules to obtain s/4 operation results; if the two groups of sensing units participating in the differential operation are both in the increment period '10', the operation result is 1, otherwise, the operation result is 0;
the summarizing unit comprises two groups which are connected with the logic and operation unit, each group is used for summarizing operation results at intervals, summarizing the operation results arranged at odd bits to obtain absolute code CABS', summarizing the operation results arranged at even bits to obtain absolute code CABS;
the summation operation units comprise two groups and are connected with the logic and operation unit, and each group is used for carrying out interval-by-interval summation operation on the operation results to respectively obtain two groups of summation results;
the difference operation unit is further configured to: and comparing the two groups of summation results through the (s + 1) th difference module to obtain a difference value R, judging the difference value R, and if R is greater than 0, determining CABS as the initial effective absolute coding, otherwise, determining CABS' as the initial effective absolute coding.
The absolute code correction module 6 is used for analyzing, calculating and processing the initial effective absolute codes to obtain corrected final effective absolute codes, and calculating or looking up the table to the final effective absolute codes to obtain coarse absolute position information; the absolute encoding correction module 6 specifically includes:
the logic operation unit is used for carrying out XOR operation on the sequences of the initial effective absolute codes in groups and carrying out logic AND operation on the operation result to obtain RIN or RIN' values;
a logic judgment unit for judging whether RIN ' or RIN is 1, when R is less than or equal to 0, if RIN ' is 1, CABS ' is the final effective absolute code, if RIN ' is not 1, the initial effective code sequence CABS ' first M ' is judged '1If the absolute code is 1, inserting a value 0 before CABS ' and removing the last bit of the CABS ' to obtain the final effective absolute code 0-CABS '; if M'1If the number is 0, inserting a value 1 before CABS ', and removing the last bit of CABS ' to obtain the final effective absolute code 1-CABS '; when R is>When 0, if RIN is 1, CABS is the final effective absolute code, if RIN is not 1, the first M of CABS of the initial effective coding sequence is judged1If the number is 1, inserting the value 0 before the CABS and removing the last bit of the CABS to obtain the final effective absolute code 0-CABS, if the number is 1, and if the number is M, inserting the value 0-CABS before the CABS to obtain the final effective absolute code 0-CABS1If the value is 0, the value 1 is inserted before the cab, and the last bit of the cab is removed, so that the final effective absolute code 1-cab is obtained.
An absolute code channel incremental position information generating module 7, configured to generate an incremental signal according to the initial effective absolute code, and subdivide the incremental signal to obtain position information in a single period of an absolute code channel; the absolute code channel increment signal 7 generation module specifically includes:
the sensing unit selection module is used for analyzing the initial effective absolute coding sequence, searching the sensing units corresponding to the numerical value '1' in all the generated sequences of the initial effective absolute coding sequence, and grouping the sensing units into four groups, namely SIN +, COS +, SIN-and COS-according to the phase information of the sensing units;
the adder is connected with the sensing unit selection module and is used for carrying out summation operation on all analog signals with the same phase to obtain incremental position information INC0, INC90, INC180 and INC270, namely SIN +, COS +, SIN-and COS-;
a difference arithmetic unit connected with the adder and used for respectively carrying out difference arithmetic on the increment position information INC0 and INC180 and INC90 and INC270 to obtain high-quality increment position information IN0 and IN90 with the phase difference of 90 degrees, namely SIN and COS signals, and carrying out subdivision arithmetic on the SIN and COS signals to obtain the increment position information INC IN the single increment period of the absolute code trackP1。
And the primary high-resolution position information generating module 8 is used for combining the position information of the absolute code channel in the single period with the coarse absolute position information to obtain high-resolution absolute position information, and indexing the incremental code channel through the high-resolution absolute position information. The primary high-resolution location information generating module 8 is specifically configured to: by applying the position information INC of the absolute code track in a single periodP1And combining the coarse absolute position information to generate primary high-resolution absolute position information ABS, and indexing the incremental code channel.
The above apparatus may further comprise:
an incremental code channel position information generating module 9, configured to process an analog signal generated by scanning an incremental code channel to obtain a high-quality sine and cosine signal, and generate position information in a single period of the incremental code channel through a subdivision operation;
an incremental code track position information generating module 9, in particular for generating an analog signal a by scanning the incremental code track 2 over the scanning element 41~amAmplitude, central level and phase are regulated to obtain high-quality sine and cosine signals, and position information INC in single period of incremental code channel is generated through subdivision operationP2；
And the advanced high-resolution position information generating module 10 is configured to combine the high-resolution absolute position information with the position information in the single period obtained by subdividing the incremental code channel signal to obtain higher-resolution absolute position information.
The advanced high-resolution location information generating module 10 is specifically configured to: the position information INC in the single period of the incremental code channel is obtained by utilizing the primary high-resolution absolute position information ABS index incremental code channel scribing period and combining the high-quality sine and cosine signals obtained by scanning the incremental code channel for subdivisionP2Generating absolute position information ABS of higher resolutionF。
In an embodiment of the present invention, the apparatus further includes:
the checking module is used for mutually checking the position information generated by the absolute code channel and the position information generated by the incremental code channel;
and the resolution selection module is used for providing the absolute position information with three resolutions of coarse absolute position information, primary high-resolution absolute position information and high-resolution absolute position information, and can select the absolute position information with different resolutions to output through output control.
The technical solutions of the embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
The absolute position measuring device according to the embodiment of the invention comprises an absolute code channel, an incremental code channel, an absolute code reading module, an absolute code correcting module, an absolute code incremental position information generating module, an incremental code channel position information generating module, a primary high-resolution position information generating module and an advanced high-resolution position information generating module, wherein the absolute code reading module reads the absolute code channel, decodes the absolute code channel to generate a primary effective absolute code, the absolute code correcting module corrects the primary absolute code to obtain a final absolute code, calculates or checks the table to obtain coarse absolute position information, the absolute code channel incremental position information generating module generates an incremental signal according to the primary effective absolute code and subdivides the incremental signal to obtain position information in a single period of the absolute code channel, the primary high-resolution position information generating module combines the position information in the single period with the coarse absolute position information, the high-resolution absolute position information is obtained to index and check the incremental code channel, the incremental code channel position information generating module processes analog signals obtained by scanning the incremental code channel to obtain high-quality sine and cosine signals, position information in a single period of the incremental code channel is obtained by subdivision, and the high-resolution absolute position information generating module combines the high-resolution absolute position information with the position information in the single period of the incremental code channel to obtain absolute position information with higher resolution.
The absolute code channel adopts a specially designed absolute coding rule, absolute position information and incremental position information can be simultaneously generated according to a single code channel, and the incremental position information has the characteristic of subdivision and can index high-line number incremental code channel signals.
It should be noted that the absolute code track coding rule, the absolute code reading module, the absolute code correction module, the absolute code track incremental position information generation module, the incremental code track position information generation module, the primary high-resolution position information generation module, and the advanced high-resolution position information generation module in the embodiment of the present invention are not limited to the transmission type and the photoelectric type measurement, but are also applicable to the reflection type, the magnetoelectric type, the inductive type, and other measurement methods.
The code channel coding adopts permutation and combination of sequences '1010' and '1000' to generate Manchester codes, pseudo-random codes and other absolute codes. The encoding component sequences are not limited to "1010" and "1000", but include combinations of sequences having such characteristics, such as "1010" and "1011", "0101" and "0100", "0101" and "0111", "101010" and "101000", "10101010" and "10100000".
Although the coding sequence in the illustration in the embodiment of the present invention is represented by 6-bit manchester code, the measurement reference unit length, the coding rule, the absolute code reading method, and the incremental signal generating method in the embodiment of the present invention are not limited to the number of coded bits and the absolute code type, and are not only applicable to manchester code, but also applicable to other absolute code types such as pseudo-random code, and have strong universality.
In the embodiment of the invention, the absolute code reading module performs difference operation on the signals of the corresponding sensing units, namely the SIN +, COS +, the SIN-and the COS-in the adjacent period of 10 or 00 in pairs, and performs logic and operation after the result is sent to the judging unit to obtain the absolute code. If the two groups of sensing units participating in the differential operation are both in the increment period of '10', the logical operation result is 1, otherwise, the logical operation result is 0, and the absolute coding value of the specific digit can be obtained by collecting the logical operation result. After each signal acquisition, the absolute code reading module generates two groups of absolute code values, wherein one group has the characteristic of Manchester code encoding, and the other group is almost all 0 under most conditions. And performing summation and differential operation on the two groups of absolute code values, wherein the larger result is the correct absolute code value. The correct absolute code value can also be distinguished by carrying out XOR operation on two adjacent bits of the absolute code sequence. In the embodiment of the invention, by analyzing the two sets of absolute encoding values, the start and end positions of the array sensing unit to be selected can be determined for generating the incremental signals.
Because the absolute code value has uniqueness in the code sequence, according to the generation process and the result of the coarse absolute code, under the condition of no increment signal, the two-subdivision of the Manchester code can be accurately realized and positioned to a specific '10' or '00' position. In the embodiment of the invention, the high-quality incremental signal is obtained by scanning the absolute coding sequence combination, and the incremental signal corresponds to the absolute coding value and has subdivision property.
In the embodiment of the invention, the sensing units for generating the incremental signals are adjacent to each other, and the single-field scanning characteristic is realized. The sensing elements located within the code sequences CA and CB are used to generate absolute codes and the sensing elements within the code sequences CA are also used to generate incremental information. The 8 sensing units in each coding sequence CA can generate two groups of same SIN +, SIN-and COS + and COS-signals, and the two groups of sine and cosine signals are equal in amplitude and same in phase. During the scanning process of the scanning element, the sensing units used for generating the incremental signals selected each time contain the same number of CA sequences, so that the amplitude and the phase of the final incremental signals are kept stable, high-quality incremental signals can be obtained, and high-multiple subdivision can be performed.
In an embodiment of the present invention, the 8 sensing units in the code sequence CA may be used individually to generate the incremental signal, or the sensing units at different positions CA may be selected to be combined to generate the incremental signal. The high-quality incremental signal generated by the absolute code channel can realize high-multiple subdivision in a single signal period of the absolute code channel through operations such as difference, arc tangent and the like. In combination with the obtained absolute code value, the absolute position measurement with high resolution of the absolute measuring device can be realized.
In addition, it should be noted that the incremental code track scribing period does not need to be consistent with the absolute code track scribing period, and the position information generated by the absolute code track can be used for indexing the high-line number incremental code track signal. The position information generated by the incremental code channel is combined with the position information generated by the absolute code channel, so that absolute position information with higher resolution can be obtained.
The embodiment of the invention obtains the high-resolution position data according to the absolute code channel, on one hand, the position data is used for indexing the incremental code channel, and on the other hand, the position data generated by the incremental code channel can be verified in the operation process, so that accurate position information is ensured to be obtained.
As can be seen from the above description, the apparatus according to the embodiment of the present invention specifically includes an absolute code channel, an incremental code channel, an absolute code reading module, an absolute code correction module, an absolute code channel incremental position information generation module, an incremental code channel position information generation module, a primary high-resolution position information generation module, and an advanced high-resolution position information generation module. Absolute code of absolute code channel is decoded by absolute code reading module to generate initial absolute code, absolute code correcting module corrects initial absolute code to generate final absolute code, coarse absolute position information is obtained by operation or table look-up, absolute code channel increment position information generating module generates high-quality increment signal from initial absolute code, high-resolution position information generating module subdivides the increment signal, and high-resolution absolute position information is obtained by combining coarse absolute position information and is used for indexing and checking increment code channel signal. And subdividing the incremental code channel signals by higher multiples, and combining the absolute position information with high resolution to obtain the absolute position information with higher resolution. The measuring device has the advantages of absolute measurement and incremental measurement, and a position measuring result with high resolution can be obtained by electrifying. Meanwhile, the position information generated by the absolute code channel and the position information generated by the incremental code channel can be mutually checked, and the accuracy of position measurement is improved. High resolution absolute position measurement can be achieved.
The following description is made by way of example with reference to the accompanying drawings.
Fig. 1 shows an absolute code track of an absolute position measuring device, which is composed of two optical characteristic units, T1 and T2. Wherein, T1 has the characteristic of complete light transmission or reflection, and T2 has the characteristic of light-proof or non-reflection. The measuring reference adopts Manchester codes for coarse coding, and the width of each Manchester code is B. CA represents manchester code "1", and CB represents manchester code "0". CA consists of two sets of light transmissive and non-transmissive sections, each set having a width of P1= B/2. Wherein, the width of the light-transmitting part is equal to that of the light-proof part, and the width is P1/2. The CB is divided into a group of light-transmitting and light-proof parts, the width of the light-transmitting part is P1/2, and the width of the light-proof part is 3P 1/2. Therefore, in the illustration of this patent, manchester code CA appears as coding component sequence "1010", and manchester code CB appears as coding component sequence "1000".
From D1~DnConstituent scan arrays and d1~dmThe scanning array scans absolute code channel 1 and incremental code channel 2 to generate analog signal A1~AnAnd a1~am. Absolute code reading module 5 reads analog signal A by matching1~AnThe initial effective absolute coding cab or cab' and R values are generated. And the absolute code correction module 6 is used for analyzing, operating and processing the initial effective absolute codes to obtain corrected final effective absolute codes, and operating or looking up the table on the final effective absolute codes to obtain coarse absolute position information. The absolute code channel increment position information generation module 7 searches the number of the final effective absolute coding sequenceThe sensing units corresponding to the value 1 accumulate all analog signals generated by the sensing units with the same phase, and generate the position information INC in the single period of the absolute code channel through calculationP1. The primary high-resolution position information generating module 8 generates the position information INC in the single period of the absolute code channelP1And combining the primary high-resolution absolute position information with the coarse absolute position information to obtain the primary high-resolution absolute position information ABS. The incremental code channel position information generating module 9 generates an incremental code channel position information by comparing the incremental code channel position information with the analog signal a1~amThe position information INC in the increment code track single period P2 is obtained by the analysis and calculation of (2)P2. The advanced high resolution position generation module 10 converts the position information INC in the incremental code track single period P2P2The absolute position information ABS with higher resolution is obtained by combining the absolute position information ABS with primary high resolutionF。
Fig. 2a and fig. 2b are schematic diagrams illustrating correspondence between two representative absolute code tracks and incremental code tracks. Wherein, 1.1 and 1.2 are absolute code channels of the absolute position measuring device and are composed of two optical characteristic units of T1 and T2, and 2.1 and 2.2 are incremental code channels of the absolute position measuring device and are also composed of two optical characteristic units of T1 and T2. The scribing period P2 of the incremental code channel may be equal to the absolute code channel period P1, or may be in the relationship of P2= P1/N, where N is a positive integer.
Fig. 3 shows an example of an absolute code track 1 of an absolute position measuring device, where the absolute code sequence is "101010001000101010001010", and the corresponding 6-bit manchester code is "100101". Scanning element 3 by D1To D60The sensor units are arranged along the movement direction of the measuring reference 1, the distance between the sensing units is P1/4, every two sensing units correspond to an absolute coding unit 1 or 0, and each Manchester code corresponds to 8 sensing units. Every 4 sensor cells corresponds to an incremental period P1 on the measurement datum 1, as shown by D1To D4Corresponding to the first "10", D of the absolute coding sequence5To D8Corresponding to the second "10", D17To D20Corresponding to the first "00", etc. The scanning element 5 scans the measuring reference 3 and generates an analog signal A1To A60And sending the data to an absolute code reading module for processing.
FIG. 3 is a schematic diagram of an example incremental code track of an absolute position measuring device, which is represented by a sensing unit d1To dmAcquiring signals to obtain analog signals a1To amThe sensing unit interval is P2/4, each increment period corresponds to 4 sensing units, and the phases are 0 degrees, 90 degrees, 180 degrees and 270 degrees respectively.
Signal A to be generated by the scanning element 3iAnd Ai+4The difference is sent to a difference comparator 11.x for a difference operation, as shown in fig. 4. Wherein i is an integer of 1 to 48. Differential result RCiInput to the value judging unit 12.y for judgment, if the value RCiA 1 is output close to zero, otherwise a 0 is output. The results were sent to 13.1 to 13.12, respectively, and logically ANDed to obtain M'1To M'6And M1To M6. The two sets of absolute coding cab and cab' are obtained after the two sets are summarized to 14.1 and 14.2. When the positions are shown, the CABS and CABS' are "100101" and "100000", respectively. M'1To M'6And M1To M6And respectively sent to adders 15.1 and 15.2 to carry out bitwise summation operation to obtain M' and M. The two are compared, and the absolute code cab or cab' corresponding to the value with the larger value is the final absolute code value, which is "100101" here and is consistent with the absolute code information on the measurement reference 1.
The initial effective absolute code is sent to the absolute code correction module 6 for operation and analysis, whether the initial effective absolute code needs to be corrected is determined, and whether the current interval is "1 st" or "2 nd" is determined, as shown in fig. 3. If the located interval is "1 st", the initial valid absolute code is the final coarse absolute code. Otherwise, according to whether the initial effective absolute coding head value is '0' or '1', the insertion of '1' or '0' before the initial effective absolute coding is determined, and the last bit of the initial effective absolute coding is removed to obtain the final coarse absolute coding sequence. Specifically, as shown in fig. 5, when R is less than or equal to 0, that is, when cab' is the initial effective absolute code, the initial effective absolute code sequence is divided into groups to be subjected to xor operation, and then the xor operation result is subjected to logical and operation to obtain the logicAnd judging whether the logic value RIN 'is 1 or not by the value RIN'. If RIN 'is 1, the CABS' is the final coarse effective absolute code. Otherwise, judging the initial valid absolute coding first bit M'1Whether or not it is 1. If M'1If =1, 0 is inserted before the cab ' coding, and the last bit of the cab ' coding sequence is removed, so as to obtain the final coarse effective absolute coding 0-cab '. Otherwise, 1 is inserted before the coding of the cab ', and the last bit of the coding of the cab ' is removed to obtain the final coarse effective absolute coding 1-cab '. When R is>And when the code is 0, namely when the CABS is the initial effective absolute code, performing exclusive OR operation on the initial effective absolute code sequence group, performing logical AND operation on the exclusive OR operation result to obtain a logical value RIN, and judging whether the logical value RIN is 1 or not through value judgment. If RIN is 1, the cab is the final coarse effective absolute code. Otherwise, the first valid absolute code header M needs to be judged1Whether or not it is 1. If M is1If =1, 0 needs to be inserted before the cab coding, and the last bit of the cab coding is removed to obtain the final coarse-effective absolute coding 0-cab. Otherwise, 1 needs to be inserted before the cabas coding, and the last bit of the cabas coding is removed to obtain the final coarse effective absolute coding 1-cab. The final coarse effective absolute code can determine coarse absolute position information by methods such as table lookup or operation. The absolute code sequence shown in fig. 3 in this embodiment is "100101", and is consistent with the manchester code encoding information on the single-code-channel measurement reference unit 1.
As shown in fig. 6, the initial valid absolute code sequence is determined according to the R value, and all the corresponding sensing units generating the value "1" in the initial valid absolute code sequence are found. The symbols in the initial valid absolute code sequence that produce the value "1" are either "1010" or "0101", which is the same as the incremental code track. Therefore, the analog signals generated by the corresponding sensing units are actually SIN +, COS +, SIN-and COS-respectively, the analog signals generated by the sensing units with the same phase are accumulated and sent to the adder for summation operation, and incremental position information INC0, INC90, INC180 and INC270, namely SIN +, COS +, SIN-and COS-are obtained. After the INC0 and the INC180 are respectively subjected to differential operation, and the INC90 and the INC270 are respectively subjected to differential operation, high-quality incremental position information with the phase difference of 90 degrees is obtainedIN0 and IN90, the SIN and COS signals. The position information INC in the single period of the absolute code channel can be obtained by subdividing the code channelP1。
The primary high-resolution position information generation module 8 generates position information INC in a single period of an absolute code trackP1And combining the coarse absolute position information with the coarse absolute position information to obtain high-resolution position data ABS of the single-code-channel absolute measuring device.
The incremental code channel position information generation module 9 generates an analog signal a by scanning the incremental code channel 2 with respect to the scanning element 41~amAmplitude, central level and phase are regulated to obtain high-quality sine and cosine signals, and position information INC in single period of incremental code channel is generated through subdivision operationP2；
The advanced high-resolution position information generating module 10 utilizes the primary high-resolution absolute position information ABS to index the incremental code track scribing period, and combines the position information INC in the incremental code track single periodP2Generating absolute position information ABS of higher resolutionF。
On the one hand, the high-resolution position data ABS can be used for indexing incremental code channel signals to generate final high-resolution absolute position data ABSFAnd on the other hand, the method can be used for checking the position information generated by the incremental code channel. When the difference between the position data generated by the absolute code channel and the position data generated by the incremental code channel is large, the position measuring device sends a fault alarm, so that the accuracy of the measuring device is improved.
In summary, with the aid of the technical solutions of the embodiments of the present invention, the present invention provides an absolute coding rule, which is simple in coding and strong in readability, and has the characteristics of both absolute codes and incremental codes, and also has the characteristic of manchester codes.
The invention provides an absolute code reading method based on the coding rule, and the absolute code value is obtained by decoding through a hardware circuit. And combining the absolute coding value obtained by the absolute coding reading method to provide a high-quality incremental signal generation method, wherein the incremental signal is related to the absolute coding value. The absolute position measuring device provided by the invention can realize position measurement of absolute code channel with higher resolution by reading the absolute code and the incremental code, subdividing the incremental signal and then combining the subdivided incremental signal with the absolute code, and can also be used for indexing the incremental code channel to obtain position information with higher resolution. The absolute coding and the code reading method thereof of the embodiment of the invention can obtain the absolute position value when being electrified, can also provide the absolute position information during the operation process, and carry out check comparison with the position value obtained by the incremental code channel, thereby ensuring to obtain accurate position data. The absolute coding scheme has the characteristics of increment codes and absolute codes and also has the characteristic of Manchester codes. By encoding different combinations of the constituent sequences, absolute encoded sequences of different lengths and numbers of bits can be obtained. The method is not only suitable for pseudo-random codes, but also suitable for other absolute coding methods.
In the embodiment of the invention, the absolute code reading method comprises signal acquisition and electric signal processing. The signal is output by the sensitive element, is sent to the difference comparator module after analog-to-digital conversion, and is input to the logic module for logic judgment after operation is finished, so that two absolute coding sequences can be obtained. Wherein at least one absolute code sequence has Manchester code characteristics. On one hand, the two absolute coding sequences are stored, on the other hand, the two absolute coding sequences are sent to an adder for summation, the result is sent to a difference comparator to be compared with the other summation result, and the absolute coding value which is correct if the numerical value is large is obtained. The coarse absolute position information is obtained by analyzing the absolute code generation process and the result, and the specific position can be accurately positioned.
In the embodiment of the invention, the method for generating the absolute code channel incremental signal comprises the steps of analyzing the two absolute coding sequences, determining the combination of signal units sent to an adder, summing to obtain SIN +, SIN-, COS + and COS-signals, carrying out differential operation to obtain the SIN and COS-signals, carrying out arc tangent operation on the SIN and COS-incremental signals, and looking up a table to obtain the position information in the single signal period of the absolute code channel. After the coarse absolute position information is combined, the high-resolution position measurement of the absolute position measuring device can be realized, the method can be used for indexing high-line number incremental signals to obtain position information with higher resolution, and can also be used for verifying the incremental signals to ensure the accuracy of the measured position information.
The foregoing description has been directed to specific embodiments of this disclosure. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims can be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.
In the 30 s of the 20 th century, improvements in a technology could clearly be distinguished between improvements in hardware (e.g., improvements in circuit structures such as diodes, transistors, switches, etc.) and improvements in software (improvements in process flow). However, as technology advances, many of today's process flow improvements have been seen as direct improvements in hardware circuit architecture. Designers almost always obtain the corresponding hardware circuit structure by programming an improved method flow into the hardware circuit. Thus, it cannot be said that an improvement in the process flow cannot be realized by hardware physical modules. For example, a Programmable Logic Device (PLD), such as a Field Programmable Gate Array (FPGA), is an integrated circuit whose Logic functions are determined by programming the Device by a user. A digital system is "integrated" on a PLD by the designer's own programming without requiring the chip manufacturer to design and fabricate application-specific integrated circuit chips. Furthermore, nowadays, instead of manually manufacturing an Integrated Circuit chip, such Programming is often implemented by "logic compiler" software, which is similar to the software compiler used in program development, but the original code before compiling is also written in a specific Programming Language, which is called Hardware Description Language (HDL), and the HDL is not only one kind but many kinds, such as abel (advanced boot Expression Language), ahdl (alternate Language Description Language), communication, CUPL (computer universal Programming Language), HDCal (Java Hardware Description Language), langa, Lola, mylar, HDL, PALASM, rhydl (runtime Description Language), vhjhdul (Hardware Description Language), and vhygl-Language, which are currently used commonly. It will also be apparent to those skilled in the art that hardware circuitry that implements the logical method flows can be readily obtained by merely slightly programming the method flows into an integrated circuit using the hardware description languages described above.
The controller may be implemented in any suitable manner, for example, the controller may take the form of, for example, a microprocessor or processor and a computer-readable medium storing computer-readable program code (e.g., software or firmware) executable by the (micro) processor, logic gates, switches, an Application Specific Integrated Circuit (ASIC), a programmable logic controller, and an embedded microcontroller, examples of which include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicone Labs C8051F320, the memory controller may also be implemented as part of the control logic for the memory. Those skilled in the art will also appreciate that, in addition to implementing the controller as pure computer readable program code, the same functionality can be implemented by logically programming method steps such that the controller is in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Such a controller may thus be regarded as a hardware component and the means for performing the various functions included therein may also be regarded as structures within the hardware component. Or even means for performing the functions may be conceived to be both a software module implementing the method and a structure within a hardware component.
The systems, apparatuses, modules or units described in the above embodiments may be specifically implemented by a computer chip or an entity, or implemented by a product with certain functions. One typical implementation device is a computer. In particular, the computer may be, for example, a personal computer, a laptop computer, a cellular telephone, a camera phone, a smartphone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.
For convenience of description, the above devices are described as being divided into various units by function, and are described separately. Of course, the functions of the various elements may be implemented in the same one or more pieces of software and/or hardware in practicing embodiments of the present description.
One skilled in the art will recognize that one or more embodiments of the present description may be provided as a method, system, or computer program product. Accordingly, one or more embodiments of the present description may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the description may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The description has been presented with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the description. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
One or more embodiments of the present description may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. One or more embodiments of the specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the system embodiment, since it is substantially similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
The above description is only an example of this document and is not intended to limit this document. Various modifications and changes may occur to those skilled in the art from this document. Any modifications, equivalents, improvements, etc. which come within the spirit and principle of the disclosure are intended to be included within the scope of the claims of this document.
Claims (8)
1. An absolute position measuring device, comprising:
an absolute code track comprising a sequence of symbols having a first characteristic and a second characteristic arranged non-periodically;
an incremental code track comprising a sequence of symbols having a first characteristic and a second characteristic arranged periodically;
the absolute code reading module is used for scanning the code element sequence of the absolute code channel through the sensing unit and generating an initial effective absolute code through operation; the absolute code reading module specifically comprises:
the differential operation unit comprises s +1 differential modules and is used for sequentially generating analog signals A for corresponding sensing units of the two adjacent sensing units at intervals of 3 in two periods through the corresponding ith differential moduleiAnd Ai+4Performing difference operation to obtain difference results RCiWherein i =1, 2, 3, … …, s, s is an integer greater than or equal to 4;
the numerical value judging unit comprises s judging modules which are connected with the differential operation unit and used for respectively judging the differential result RC through the corresponding ith judging moduleiJudging if the difference result RCiIf the difference value between the value and zero is less than the preset value, the judgment result is 1, otherwise, the judgment result is 0;
the logic and operation unit comprises s/4 operation modules, is connected with the numerical judgment unit and is used for respectively carrying out logic and operation on the four groups of judgment results corresponding to the logic and operation modules through the corresponding operation modules to obtain s/4 operation results; if the two groups of sensing units participating in the differential operation are both in the increment period '10', the operation result is 1, otherwise, the operation result is 0;
the summarizing unit comprises two groups, and is connected with the logic and operation unit, wherein each group is used for summarizing the operation results at intervals, summarizing the operation results at odd-numbered positions to obtain absolute code CABS', summarizing the operation results at even-numbered positions to obtain absolute code CABS;
the summation operation units comprise two groups, the two groups are connected with the logic and operation unit, and each group is respectively used for carrying out interval-by-interval summation operation on the operation results to respectively obtain two groups of summation results;
the difference operation unit is further configured to: comparing the two groups of summation results through the (s + 1) th difference module to obtain a difference value R, judging the difference value R, and if R is greater than 0, determining CABS as the initial effective absolute coding, otherwise, determining CABS' as the initial effective absolute coding;
the absolute code correction module is used for analyzing, calculating and processing the initial effective absolute codes to obtain corrected final effective absolute codes, and calculating or looking up the table to the final effective absolute codes to obtain coarse absolute position information; the absolute coding correction module specifically includes:
the logic operation unit is used for carrying out XOR operation on the sequence groups of the initial effective absolute codes and carrying out logic AND operation on the operation result to obtain the RIN or RIN' value;
a logic judgment unit for judging whether RIN ' or RIN is 1, when R is less than or equal to 0, if RIN ' is 1, CABS ' is the final effective absolute code, if RIN ' is not 1, the first effective coding sequence CABS ' first M ' is judged '1If the absolute code is 1, inserting a value 0 before CABS ' and removing the last bit of the CABS ' to obtain the final effective absolute code 0-CABS '; if M'1If the number is 0, inserting a value 1 before CABS ', and removing the last bit of CABS ' to obtain the final effective absolute code 1-CABS '; when R is>When 0, if RIN is 1, CABS is the final effective absolute code, if RIN is not 1, the first M of CABS of the initial effective coding sequence is judged1If the absolute code is 1, inserting a value 0 before CABS and removing the last bit of CABS to obtain the final effective absolute code 0-CABS, if the absolute code is M1If the value is 0, inserting a value 1 before CABS, and removing the last bit of CABS to obtain the final effective absolute coding 1-CABS;
an absolute code channel increment position information generating module, which is used for analyzing and calculating the initial effective absolute code to obtain the position information in the single period of the absolute code channel;
and the primary high-resolution position information generating module is used for combining the position information of the absolute code channel in the single period with the coarse absolute position information to obtain primary high-resolution absolute position information, and indexing the incremental code channel through the high-resolution absolute position information to obtain position information with higher resolution.
2. The apparatus of claim 1, further comprising:
the incremental code channel position information generating module is used for processing an analog signal generated by scanning the incremental code channel by the scanning element to obtain sine and cosine signals, and generating position information in a single period of the incremental code channel through subdivision operation;
and the advanced high-resolution position information generating module is used for combining the high-resolution absolute position information with the position information in the single period of the incremental code channel to obtain higher-resolution absolute position information.
3. The apparatus of claim 1,
the absolute code track is subjected to coarse coding by adopting a Manchester code, wherein the width of each Manchester code is B, the Manchester code with the width of B corresponds to CA or CB in the absolute code track, the CA consists of two groups of optical characteristic units of a light-transmitting part T1 and a light-tight part T2 which are equal in width, each group of width P1= B/2, one group of T1 and one group of T2 are used as one group, and the CB is divided into a group of light-transmitting part T1 and a group of light-tight part T2, wherein the width of the light-transmitting part is P1/2, and the width of the light-tight part is 3P 1/2;
the incremental code track consists of two optical characteristic units, namely a light-transmitting part T1 and a light-proof part T2, the scribed line interval P2= P1/N or P2= P1 of the incremental code track, wherein N is a positive integer greater than 1;
the code element sequence of the absolute code track adopts the sequence combination of '1010' and '1000', '1010' and '1011', '0101' and '0100', '0101' and '0111', '101010' and '101000', or '10101010' and '10100000'.
4. The apparatus according to claim 1, wherein the absolute track increment position information generating module specifically includes:
the sensing unit selection module is used for analyzing the initial effective absolute coding sequence, searching the sensing units corresponding to the numerical value '1' in all the generated sequences of the initial effective absolute coding sequence, and grouping the sensing units into four groups, namely SIN +, COS +, SIN-and COS-according to the phase information of the sensing units;
the adder is connected with the sensing unit selection module and is used for performing summation operation on the analog signals with the same phase to obtain incremental position information INC0, INC90, INC180 and INC270, namely SIN +, COS +, SIN-and COS-;
a difference arithmetic unit connected with the adder and used for respectively carrying out difference arithmetic on the increment position information INC0 and INC180 and INC90 and INC270 to obtain increment position information IN0 and IN90 with 90-degree phase difference, namely SIN and COS signals, and carrying out subdivision arithmetic on the SIN and COS signals to obtain position information INC IN the absolute code track single periodP1。
5. The apparatus of claim 3 wherein the sensing units in the scanning element used to generate coarse absolute position information and absolute track incremental position information are adjacent to each other, the sensing units in the CA and CB both being used to generate coarse absolute position information, the sensing units in the CA also being used to generate absolute track incremental position information.
6. The apparatus of claim 1, wherein the primary high-resolution location information generating module is specifically configured to: by using the position information INC in the absolute code channel single periodP1And generating primary high-resolution absolute position information ABS by combining the coarse absolute position information, and indexing the incremental code channel.
7. The apparatus of claim 2, wherein the advanced high-resolution location information generating module is specifically configured to: the position information INC in the single period of the incremental code channel is obtained by utilizing the primary high-resolution absolute position information ABS index incremental code channel scribing period and combining sine and cosine signals obtained by scanning the incremental code channel for subdivisionP2Is generated higherAbsolute position information ABS of resolutionF。
8. The apparatus of claim 1 or 2, further comprising:
the checking module is used for mutually checking the position information generated by the absolute code channel and the position information generated by the incremental code channel;
and the resolution selection module is used for providing the absolute position information with three resolutions of coarse absolute position information, primary high-resolution absolute position information and high-resolution absolute position information, and can select the absolute position information with different resolutions to output through output control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111025633.4A CN113686365B (en) | 2021-09-02 | 2021-09-02 | Absolute position measuring device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111025633.4A CN113686365B (en) | 2021-09-02 | 2021-09-02 | Absolute position measuring device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113686365A CN113686365A (en) | 2021-11-23 |
| CN113686365B true CN113686365B (en) | 2022-06-17 |
Family
ID=78584998
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111025633.4A Active CN113686365B (en) | 2021-09-02 | 2021-09-02 | Absolute position measuring device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113686365B (en) |
Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3403815A1 (en) * | 1984-02-03 | 1985-08-08 | Max Stegmann GmbH, Uhren- und Elektroapparatefabrik, 7710 Donaueschingen | Angle encoder with electronic calibration capability |
| WO2001019005A1 (en) * | 1999-09-03 | 2001-03-15 | Broadcom Corporation | System and method for the synchronization and distribution of telephony timing information in a cable modem network |
| KR20030038187A (en) * | 2001-11-09 | 2003-05-16 | 에스알텍 주식회사 | Compound encoder for srm drive |
| WO2005042255A1 (en) * | 2003-10-31 | 2005-05-12 | Seiko Epson Corporation | Printing method, printing device, printing system and test pattern |
| DE102005036332A1 (en) * | 2005-07-29 | 2007-02-08 | Walcher Meßtechnik GmbH | Shaft positioner for machine tools has measurement system with magnetic field sensors and magnets mechanically coupled to shaft |
| DE202010015396U1 (en) * | 2009-11-14 | 2011-02-10 | Avago Technologies Ecbu Ip (Singapore) Pte. Ltd. | High-resolution optical encoder systems, encoder devices and coding methods |
| CN103076527A (en) * | 2012-12-26 | 2013-05-01 | 深圳市汇川技术股份有限公司 | Incremental type encoder offline detection circuit |
| CN203838515U (en) * | 2014-05-26 | 2014-09-17 | 株洲变流技术国家工程研究中心有限公司 | Encoder signal acquisition device |
| CN105627921A (en) * | 2015-12-18 | 2016-06-01 | 佛山轻子精密测控技术有限公司 | Absolute encoder subdivision acquisition system and measurement method thereof |
| CN105659056A (en) * | 2013-08-12 | 2016-06-08 | Gde技术公司 | Position sensor |
| CN106363623A (en) * | 2016-09-30 | 2017-02-01 | 深圳市同川科技有限公司 | Robot position detecting device and method |
| CN107532930A (en) * | 2015-04-29 | 2018-01-02 | 瑞尼斯豪公司 | The method for determining subdivision error |
| CN108027259A (en) * | 2015-09-22 | 2018-05-11 | 三菱电机株式会社 | Absolute type encoder |
| CN109579711A (en) * | 2018-11-16 | 2019-04-05 | 广州市精谷智能科技有限公司 | A kind of absolute position displacement sensor grating absolute position encoder and interpretation method |
| CN111811562A (en) * | 2020-07-22 | 2020-10-23 | 中国科学院长春光学精密机械与物理研究所 | Incremental photoelectric encoder fine and coarse correction method based on microcontroller |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6356219B1 (en) * | 2001-03-05 | 2002-03-12 | Aerotech, Inc. | Calibrated encoder multiplier |
| US7763875B2 (en) * | 2005-09-07 | 2010-07-27 | Romanov Nikolai L | System and method for sensing position utilizing an uncalibrated surface |
| DE102006040232A1 (en) * | 2006-08-28 | 2008-03-13 | Siemens Ag | Door drive for an automatic door |
-
2021
- 2021-09-02 CN CN202111025633.4A patent/CN113686365B/en active Active
Patent Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3403815A1 (en) * | 1984-02-03 | 1985-08-08 | Max Stegmann GmbH, Uhren- und Elektroapparatefabrik, 7710 Donaueschingen | Angle encoder with electronic calibration capability |
| WO2001019005A1 (en) * | 1999-09-03 | 2001-03-15 | Broadcom Corporation | System and method for the synchronization and distribution of telephony timing information in a cable modem network |
| KR20030038187A (en) * | 2001-11-09 | 2003-05-16 | 에스알텍 주식회사 | Compound encoder for srm drive |
| WO2005042255A1 (en) * | 2003-10-31 | 2005-05-12 | Seiko Epson Corporation | Printing method, printing device, printing system and test pattern |
| CN1874894A (en) * | 2003-10-31 | 2006-12-06 | 精工爱普生株式会社 | Printing method, printing device, printing system and test pattern |
| DE102005036332A1 (en) * | 2005-07-29 | 2007-02-08 | Walcher Meßtechnik GmbH | Shaft positioner for machine tools has measurement system with magnetic field sensors and magnets mechanically coupled to shaft |
| DE202010015396U1 (en) * | 2009-11-14 | 2011-02-10 | Avago Technologies Ecbu Ip (Singapore) Pte. Ltd. | High-resolution optical encoder systems, encoder devices and coding methods |
| CN103076527A (en) * | 2012-12-26 | 2013-05-01 | 深圳市汇川技术股份有限公司 | Incremental type encoder offline detection circuit |
| CN105659056A (en) * | 2013-08-12 | 2016-06-08 | Gde技术公司 | Position sensor |
| CN203838515U (en) * | 2014-05-26 | 2014-09-17 | 株洲变流技术国家工程研究中心有限公司 | Encoder signal acquisition device |
| CN107532930A (en) * | 2015-04-29 | 2018-01-02 | 瑞尼斯豪公司 | The method for determining subdivision error |
| CN108027259A (en) * | 2015-09-22 | 2018-05-11 | 三菱电机株式会社 | Absolute type encoder |
| CN105627921A (en) * | 2015-12-18 | 2016-06-01 | 佛山轻子精密测控技术有限公司 | Absolute encoder subdivision acquisition system and measurement method thereof |
| CN106363623A (en) * | 2016-09-30 | 2017-02-01 | 深圳市同川科技有限公司 | Robot position detecting device and method |
| CN109579711A (en) * | 2018-11-16 | 2019-04-05 | 广州市精谷智能科技有限公司 | A kind of absolute position displacement sensor grating absolute position encoder and interpretation method |
| CN111811562A (en) * | 2020-07-22 | 2020-10-23 | 中国科学院长春光学精密机械与物理研究所 | Incremental photoelectric encoder fine and coarse correction method based on microcontroller |
Non-Patent Citations (5)
| Title |
|---|
| Experimental validation of a compensation method for ultra-high-speed absolute rotary encoders;Guilmain, G等;《2019 IEEE SENSORS》;20191030;全文 * |
| High resolution interpolation techniques of small photoelectric encoder;Feng Yingqiao等;《Infrared and Laser Engineering》;20130725;第42卷(第7期);全文 * |
| The 1.8 meter Spacewatch Telescope Motion Control System;Perry, M等;《TELESCOPE CONTROL SYSTEMS III》;19980101;第3351卷;全文 * |
| 高精度增量式光电编码器信号处理系统;汪雨冰等;《吉林大学学报(信息科学版)》;20180731;第36卷(第4期);全文 * |
| 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》;20131031;第27卷(第10期);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113686365A (en) | 2021-11-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP4846331B2 (en) | Photoelectric encoder and its scale | |
| JP5103267B2 (en) | Absolute position measuring encoder | |
| US5305241A (en) | Error correcting apparatus in position detection | |
| CN110260900B (en) | Position determination method, device and equipment of hybrid encoder and readable storage medium | |
| KR20140117500A (en) | Method and apparatus for determining position | |
| US7565256B2 (en) | Displacement detecting encoder | |
| CN107314780B (en) | Decoding device and decoding method for positioning absolute code | |
| US20110208475A1 (en) | Absolute angle coding and angle measuring device | |
| JP4885630B2 (en) | Two-dimensional encoder and its scale | |
| CN112880712A (en) | Magneto-optical absolute encoder, and method and device for determining position of moving equipment | |
| CN102788602A (en) | Quasi absolute type optical encoder | |
| KR20190033035A (en) | Method and system for linear position sensing using magnetic sensors | |
| CN113686365B (en) | Absolute position measuring device | |
| WO2014061380A1 (en) | Position detection unit | |
| CN113447051B (en) | Single code channel absolute position measuring device | |
| JP4290405B2 (en) | Anomaly detection device for location information | |
| Miljkovic et al. | Redundant and flexible pseudorandom optical rotary encoder | |
| WO2023028967A1 (en) | Absolute position measurement device | |
| WO2023028966A1 (en) | Single-code channel absolute position measurement apparatus | |
| JP7234087B2 (en) | absolute linear encoder | |
| JP2009053067A (en) | Correction value control method of encoder | |
| KR20130127709A (en) | Absolute position measuring method, absolute position measuring apparatus, and scale | |
| US20220107208A1 (en) | Position-measuring device for measuring an absolute position | |
| CN108592960B (en) | Absolute value encoder and working method thereof | |
| EP4278440A1 (en) | Bose-chadhuri-hocquenghem (bch) encoder and method for generating a bch signal for navigation signal |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| 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 | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: Absolute position measurement device Granted publication date: 20220617 Pledgee: China Construction Bank Corporation Beijing Mentougou Branch Pledgor: BEIJING JINGDIAO TECHNOLOGY GROUP Co.,Ltd. Registration number: Y2024980037951 |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right |