CN114323094B - Optical encoder and electronic device - Google Patents
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- CN114323094B CN114323094B CN202111671643.5A CN202111671643A CN114323094B CN 114323094 B CN114323094 B CN 114323094B CN 202111671643 A CN202111671643 A CN 202111671643A CN 114323094 B CN114323094 B CN 114323094B
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Classifications
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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
- G01D5/347—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
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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 embodiment of the application discloses an optical encoder and electronic equipment. The optical encoder includes: a rotating member and a light receiver; the outer surface of the rotating part is provided with a light detection area which is arranged in a surrounding way; the light detection region includes a light absorption region and a light reflection region; the light absorption area is used for absorbing at least part of the light signal incident on the rotating component; the light reflection area is used for reflecting at least part of the light signal incident on the rotating component to the light receiver; the optical receiver is used for receiving a detection optical signal which is incident to the rotating component and reflected by the optical detection area, and generating an electric signal according to the detection optical signal so as to determine the rotating motion information of the rotating component; wherein the light absorption area or the light reflection area is spirally arranged around the outer surface of the rotating component in a helical shape with helical angle smaller than 90 degrees. The optical encoder can be suitable for application in small or compact electronic equipment, and processing cost is saved.
Description
The present application claims priority from the chinese patent office, application No. 202122186022.X, chinese patent application entitled "optical encoder and electronic device" filed on 9/2021, the entire contents of which are incorporated herein by reference.
Technical Field
The embodiment of the application relates to the technical field of optical detection, in particular to an optical encoder and electronic equipment.
Background
The optical encoder is a sensor for converting mechanical geometric displacement on a rotating structure into pulse or digital quantity by a photoelectric conversion technology, can detect rotation motion information such as a rotation angle, a rotation direction, a rotation angular velocity and the like, and is widely applied to electronic or electric equipment such as a numerical control machine tool, a rotary table, a robot, a radar and the like.
Optical encoders can be classified into incremental encoders and absolute encoders. Wherein, the incremental encoder obtains the rotation motion information of the rotating structure by detecting the relative displacement of the rotating shaft. However, the incremental encoder often has a problem that burst errors cannot be handled, for example, once power failure is suddenly encountered, the restarted incremental encoder easily loses rotation angle information due to the failure to acquire the initial angle; in addition, since the incremental encoder detects the rotational movement information based on the relative displacement, if a test error occurs in the previous detection result, the subsequent detection result may be accumulated with an error based on the previous error detection value, and thus the acquired rotational movement information may be erroneous.
The absolute encoder can acquire the rotation motion information of the rotating structure by detecting the absolute displacement of the rotating structure after the detection zero point is set, so that burst errors can be better handled and the problem of error accumulation can be avoided. However, the absolute encoder in the prior art, such as the schemes of encoding grating, magnetic ring, optical axis encoding, etc., often has high requirements on processing precision, resulting in a cost far higher than that of the incremental encoder, and cannot be applied to small or compact electronic equipment.
Disclosure of Invention
The embodiment of the application provides an optical encoder and electronic equipment, which are suitable for application in small-sized or compact electronic equipment and save processing cost.
In a first aspect, embodiments of the present application provide an optical encoder applied to an electronic device, the optical encoder including: a rotating member and a light receiver; the outer surface of the rotating component is provided with a light detection area which is arranged in a surrounding manner; the light detection region includes a light absorption region and a light reflection region; the light absorbing region is configured to absorb at least a portion of the light signal incident on the rotating member; the light reflection area is used for reflecting at least part of the light signal incident on the rotating component to the light receiver; the optical receiver is used for receiving a detection optical signal which is incident to the rotating component and reflected by the optical detection area, and generating an electric signal according to the detection optical signal so as to determine the rotating motion information of the rotating component; wherein the light absorption area or the light reflection area is spirally arranged around the outer surface of the rotating component in a helical shape with helical angle smaller than 90 degrees.
As a possible implementation, the light detection area is configured to cause the detection light signal to generate bright stripes and dark stripes on the light receiver along with the rotational movement of the rotating member; the light absorbing region is for producing the dark stripe; the light reflection area is used for generating the bright stripes.
As a possible embodiment, the light receiver includes at least two photosensors arranged in a direction parallel to a rotation axis of the rotating member.
As a possible implementation manner, the optical encoder further includes: and a processor for processing the electrical signal generated by the optical receiver to determine rotational movement information of the rotating component.
As a possible implementation manner, when the optical signals reflected by the adjacent light absorption areas are respectively projected to the first photoelectric sensor and the second photoelectric sensor, the processor is used for setting the absolute angle of the rotating component to be 0 degrees; the first photoelectric sensor and the second photoelectric sensor are photoelectric sensors positioned at two ends of the light receiver respectively.
As a possible implementation, the processor is further configured to calculate an angular resolution of the optical encoder based on a total number of the photosensors in the optical receiver.
As one possible implementation, the processor calculates the angular resolution of the optical encoder using the following formula: θ r =360 °/(m-1), where m represents the total number of photosensors in the optical receiver.
As a possible implementation, the processor calculates the absolute angle of rotation of the rotating component using the following formula:
wherein k represents the serial number of the photoelectric sensor in the light receiver corresponding to the dark stripe, and m represents the total number of the photoelectric sensors in the light receiver; the serial number of each photoelectric sensor in the light receiver is arranged to be 0,1,2 from one end to the other end of the light receiver in sequence.
As a possible implementation manner, when the optical signals reflected by the light absorption area are respectively projected to the third photoelectric sensor and the fourth photoelectric sensor, the processor calculates the absolute angle of rotation of the rotating component after correction by adopting the following formula:
wherein θ (n) represents an absolute angle by which the rotating member rotates when the dark stripe corresponds to the third photosensor, n represents a serial number of the third photosensor, I 0 Indicating the intensity of the light signal reflected by the light reflecting area and projected onto the light receiver, I a Indicating the intensity of the light signal projected onto the third photosensor, I b Indicating the intensity of the light signal projected onto the fourth photosensor.
As a possible embodiment, a lens is provided between the light receiver and the rotating member; the lens is used for adjusting the focusing position of the detection light signals so that the light signals reflected by the adjacent light absorption areas are respectively projected to the first photoelectric sensor and the second photoelectric sensor.
As a possible implementation manner, the optical encoder further includes: an optical transmitter for transmitting an optical signal to the rotating member.
As a possible implementation manner, an included angle is formed between a tangential plane of the light detection area and the rotation axis of the rotation component, and the included angle is an acute angle.
As a possible embodiment, the light absorbing regions and the light reflecting regions are spirally and alternately arranged on the outer surface of the rotating member in a direction around the rotation axis of the rotating member.
In a second aspect, an embodiment of the present application provides an electronic device, including: a housing; a crown portion provided on the housing for receiving a user's operation; and an optical encoder as in the first aspect or any of the alternatives of the first aspect, coupled to the crown, for detecting the manipulation of the crown by the user.
As a possible implementation, the electronic device is a wristwatch, the crown is disposed at a side of the wristwatch, and the rotary member of the optical encoder is connected to the crown such that the rotary member moves with movement of the crown.
The optical encoder provided by the embodiment of the application adopts the helical tooth spiral structure to realize the light absorption area or the light reflection area, so that the complexity of a processing technology can be effectively reduced, the processing cost is saved, and the miniaturization design is realized, so that the optical encoder can be better suitable for application in small or compact wearable or portable electronic equipment such as an intelligent watch.
Drawings
One or more embodiments are illustrated by way of example and not limitation in the figures of the accompanying drawings, in which like references indicate similar elements, and in which like reference numerals refer to similar elements, unless otherwise specified, and in which the views are not to be taken in a limiting sense.
FIG. 1 is a schematic diagram of an optical encoder according to an embodiment of the present disclosure;
FIG. 2 is a schematic diagram of another optical encoder according to an embodiment of the present disclosure;
FIG. 3 is a schematic diagram of another optical encoder according to an embodiment of the present disclosure;
fig. 4 is a schematic structural view of a rotary component according to an embodiment of the present disclosure;
FIG. 5A is a schematic view of another rotary member according to an embodiment of the present disclosure;
FIG. 5B is a schematic diagram of an optical encoder including the rotary member shown in FIG. 5A;
FIG. 5C is a schematic diagram of another optical encoder including the rotary member shown in FIG. 5A;
FIG. 6A is a schematic diagram of a projected waveform and fringe pattern provided by an embodiment of the present application;
FIG. 6B is a schematic diagram of another projected waveform and fringe pattern provided by an embodiment of the present application;
FIG. 7 is a schematic diagram of a structure of another optical encoder according to an embodiment of the present disclosure;
fig. 8 is a flow chart of a method for detecting rotational motion information according to an embodiment of the present application;
fig. 9 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all, of the embodiments of the present application.
Unless a specified order is explicitly stated in the context of the present application, the process steps described herein may be performed in a different order than specified, i.e., each step may be performed in a specified order, substantially concurrently, in reverse order, or in a different order.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
In addition, the terms "first," "second," etc. are used merely to distinguish similar objects and should not be construed to indicate or imply relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defining "a first", "a second", etc. may explicitly or implicitly include one or more such feature.
An embodiment of the present application provides an optical encoder applied to an electronic device, including: a rotating member and a light receiver; the outer surface of the rotating component is provided with a light detection area which is arranged in a surrounding way; the light detection region includes a light absorption region and a light reflection region; the light absorbing region is used for absorbing at least part of the light signal incident on the rotating component; the light reflection area is used for reflecting at least part of the light signal incident on the rotating component to the light receiver; the optical receiver is used for receiving a detection optical signal which is incident to the rotating component and reflected by the optical detection area, and generating an electric signal according to the detection optical signal so as to determine the rotating motion information of the rotating component; wherein the light absorption area or the light reflection area is spirally arranged around the outer surface of the rotating component in a helical shape, and the helix angle is smaller than 90 degrees.
The helical structure is adopted to realize the light absorption area or the light reflection area, so that the complexity of a processing technology can be effectively reduced, the processing cost is saved, and the miniaturization design of the optical encoder is realized, so that the optical encoder is better suitable for application in small or compact portable electronic equipment.
In an embodiment of the present application, the rotational movement information of the rotating member may include: the rotation angle, rotation direction, rotation displacement amount, and rotation angular velocity of the rotation member.
Fig. 1 is a schematic structural diagram of an optical encoder according to an embodiment of the present application. The optical encoder 10 includes: a rotating member 101 and a light receiver 102. The outer surface of the rotary member 101 has a light detection region 111 disposed circumferentially; the light detection region 111 includes a light absorption region 111a and a light reflection region 111b; the light absorbing region 111a may absorb at least a portion of the light signal incident on the rotating member 101, and the light reflecting region 111b may reflect at least a portion of the light signal incident on the rotating member 101 to the light receiver 102. Wherein the light absorbing region 111a is spirally arranged around the outer surface of the rotary member 101 in a helical shape with a helix angle smaller than 90 degrees. The light receiver 102 may receive a detection light signal incident to the rotary member 101 and reflected through the light detection region 111, and generate an electrical signal based on the detection light signal to determine rotational movement information of the rotary member 101.
The rotary component of the optical encoder provided by the embodiment of the application is different from a common rotary component, and the light absorption area or the light reflection area of the rotary component is spirally arranged around the outer surface of the rotary component in a helical shape, and the helix angle is smaller than 90 degrees. The rotating component can be realized by adopting a cylinder, a cone or a truncated cone and the like. The light absorption area or the light reflection area can adopt a strip-shaped spiral structure, namely, the strip-shaped boundary of the light absorption area or the light reflection area can be limited by two mutually parallel spiral lines with a certain interval. When the rotating member is cylindrical, as shown in FIG. 1, the helix angle β refers to the tangent l of the helix 1 And a cylindrical busbar l passing through the tangent point 2 An included angle between the two. In this embodiment of the present application, the helical angle β of the helical structure used in the light absorption region is an acute angle smaller than 90 degrees, so as to ensure the detection accuracy of the optical encoder.
In particular, the light receiver 102 may be an array of photosensors. The photoelectric sensor array can be composed of a plurality of light emitting diodes, metal oxide semiconductor elements, charge coupled devices and photovoltaic cells, and can also be other photoelectric sensors capable of realizing photoelectric conversion. The photosensor array may be one row or one column, or may be multiple rows or multiple columns.
It should be noted that, in the optical encoder 10 shown in fig. 1, the light reflection area 111b may be disposed around the outer surface of the rotating member 101 in a helical shape with a helical angle smaller than 90 degrees. However, for convenience of description, the following description will be given by taking only an example in which the light absorbing region 111a is helical with helical teeth and the helix angle is less than 90 degrees around the outer surface of the rotary member 101.
In one embodiment, the light detection region may be such that the detection light signal produces bright and dark fringes upon rotational movement of the rotating member on the light receiver.
In one embodiment, the light receiver includes at least two photosensors, and the at least two photosensors are arranged in a direction parallel to the rotational axis of the rotating member.
By setting the arrangement direction of the photosensors in the photoreceiver to be parallel to the rotation axis of the rotary member, the contrast of the bright-dark stripe pattern on the photoreceiver can be further improved to improve the detection accuracy of the optical encoder.
The axis of rotation of the rotating member is its geometric center line. For example, the rotary member 101 in fig. 1 is a cylinder, and the rotation axis p thereof is a central axis perpendicular to the generatrix thereof. If the rotating member is a cone, its axis of rotation is a straight line perpendicular to the bottom surface of the cone and passing through the apex of the cone. If the rotary member is a truncated cone, the rotation axis thereof is a straight line perpendicular to the upper and lower bottom surfaces of the truncated cone and passing through dots of the upper and lower bottom surfaces thereof.
Since the optical encoder provided by the embodiment of the application can be applied to the electronic equipment, the light emitting device in the electronic equipment can be utilized to emit the optical signal to the rotating component. The light signal emitted by the light emitting device in the electronic equipment can be incident to the rotating component and then is absorbed and reflected by the light detection area of the rotating component to form a detection light signal, and the detection light signal is received by the light receiver, so that the detection of the rotation movement information is realized.
The detection principle of the optical encoder provided in the embodiment of the present application is explained below with reference to fig. 1. Since the light absorption region absorbs the light signal incident on the rotary member in the light detection region of the rotary member and the light reflection region reflects the light signal incident on the rotary member, the light signal reflected by the light absorption region 111a will be reflected by the light path r when the rotary member 101 performs the rotary motion 1 Projected onto the light receiver 102 as dark fringes (or bright fringes with weaker light intensity), and the light signal reflected by the light reflection region 111b is reflected by the light path r 2 Projected onto the light receiver 102, appearing as bright fringes (or light intensityStrong bright stripes), that is, a stripe pattern with alternate light and dark, which can generate corresponding displacement on the light receiver 102 along with the rotation of the rotating member 101, so that the optical encoder 10 can accurately detect the rotation information of the rotating member 101 based on the displacement of the stripe pattern. In addition, the stripe pattern can realize detection of motion information in multiple directions, enriches functions of an optical encoder, and enables electronic equipment to detect rotation input and/or pressing input.
In the embodiment of the application, the light absorption areas and the light reflection areas are spirally and alternately arranged on the outer surface of the rotating component along the direction surrounding the rotating shaft of the rotating component, so that the detection light signals can generate bright stripes and dark stripes with alternate brightness and darkness along with the rotating motion of the rotating component on the light receiver.
In one embodiment, the optical signals reflected by adjacent light absorbing regions may be projected onto photosensors located at opposite ends of the light receiver, respectively.
Fig. 2 is a schematic structural diagram of another optical encoder according to an embodiment of the present application. The first light absorbing region 1111 and the second light absorbing region 1112 are two adjacent light absorbing regions of the rotary member 101, and the first photosensor 1021 and the second photosensor 1022 are photosensors located at both ends of the light receiver 102, respectively. When the rotating member 101 performs a rotational motion around its rotation axis p at a certain speed, the stripe pattern of alternately bright and dark formed by reflection of the light detection area will move in a direction parallel to the rotation axis p at a proportional speed. By appropriately setting the spiral pitch between the first light absorbing region 1111 and the second light absorbing region 1112, the distance between the light receiver 102 and the rotary member 101, the number of photosensors in the light receiver 102, and the like, it is possible to make the optical signal reflected by the first light absorbing region 111 take the optical path r when the rotary member rotates to a certain position 1 The optical signal projected to the first photosensor 1021 and reflected by the second light absorption region 1112 is reflected by the optical path r 2 To the second photosensor 1022. The detection zero point of the rotating component, i.e. the rotating part, can thus be determinedThe absolute angle of rotation of the member is 0 degrees or just past the position of one or more complete rotations, thereby accurately acquiring the absolute angle of rotation of the rotating member and other rotational motion information.
The angular resolution θ detected by the optical encoder 10 may be calculated using the following formula r ：
θ r =360 °/(m-1) (formula 1)
Where m represents the total number of photosensors in the optical receiver. Therefore, by arranging such that the optical signals reflected by the adjacent light absorption regions are respectively projected to the photosensors located at both ends of the light receiver, m can be made the total number of all the photosensors included in the light receiver 102, thereby improving the angular resolution of the optical encoder.
In one embodiment, a lens may be disposed between the light receiver and the rotating member to adjust the focal position of the detection light signal, so that the light signals reflected by the adjacent light absorbing regions are respectively projected to the photosensors at both ends of the light receiver. Therefore, different spiral pitches between adjacent light absorption areas and different distances between the light receiver and the rotating component can be better adapted to improve the angular resolution of the optical encoder and the detection precision of the rotating motion information of the rotating component. In addition, the light receiver may be provided at a position closer to the rotating member or farther from the rotating member as needed; when the light receiver is disposed at a position closer to the rotating member, the space occupied by each member of the optical encoder can be further saved, so that the optical encoder is more miniaturized.
Fig. 3 is a schematic structural diagram of another optical encoder according to an embodiment of the present application. The optical encoder 20 includes: rotating member 201, light receiver 202 and light emitter 203. Wherein the optical transmitter 203 may transmit an optical signal to the rotating member 201. The shape, structure, and function of the rotation member 201, the light receiver 202, the light detection region 211, the light absorption region 211a, and the light reflection region 211b are the same as or similar to those of the rotation member 101, the light receiver 102, the light detection region 111, the light absorption region 111a, and the light reflection region 111b shown in fig. 1, and will not be repeated here.
Specifically, the light emitter 203 may be one of light sources such as a vertical cavity surface emitting Laser (Vertical cavity surface emitting Laser, VCSEL), an edge emitting Laser (Edge emitting Laser, EEL), a light emitting diode (Light emitting diodes, LED), or a Laser diode (Ld), or a combination of the above light sources. It should be appreciated that the light signal emitted by the light emitter may be an optically modulated, processed or controlled light signal carrying a spatial optical pattern, may be an optically modulated, processed or controlled light signal illuminated in separate areas, may be an optically modulated, processed or controlled periodically illuminated light signal, or a combination thereof.
In this embodiment, the optical transmitter is configured in the optical encoder, which is favorable for enhancing the illumination intensity inside the optical encoder, so that the optical signal received by the optical receiver has higher signal intensity, thereby improving the signal-to-noise ratio of the detected optical signal and further improving the detection accuracy of the rotary motion information of the rotary component.
In one embodiment, the light absorbing region and the light reflecting region may each be provided as a plane, wherein the light absorbing region may be a non-reflective plane coated with a light absorbing material and the light reflecting region is a reflective plane having optical specular reflection properties.
In one embodiment, the light absorbing region is provided as a concave surface, i.e. the light absorbing region has a trough-like structure recessed towards the direction close to the axis of rotation, while the light reflecting region is a reflective plane with optical specular reflection properties.
Fig. 4 is a schematic structural diagram of a rotary component according to an embodiment of the present application. In this embodiment, since the light absorbing region 311a is a groove structure, the light signal incident into the groove is subjected to multiple reflections, such that the energy is consumed, and the effect of absorbing the light signal is achieved; the light reflection region 311b is a smooth plane having optical specular reflection characteristics, and can effectively reflect an incident light signal to the light receiver so that the incident light signal is diffusely scattered as little as possible. Therefore, the light-dark contrast between the bright stripes and the dark stripes in the stripe pattern on the light receiver can be improved, and the detection precision of the optical encoder can be improved.
In one embodiment, the tangential plane of the light detection area and the rotation axis of the rotation member form an angle therebetween, and the angle is an acute angle.
In this embodiment, the rotating member may be a cone or a truncated cone. The following description will take, as an example, a truncated cone as shown in fig. 5A to 5C. Fig. 5A is a schematic structural diagram of another rotary component according to an embodiment of the present application, fig. 5B is a schematic structural diagram of an optical encoder including the rotary component shown in fig. 5A, and fig. 5C is a schematic structural diagram of another optical encoder including the rotary component shown in fig. 5A.
The tangential plane of the light detection area 411 forms an angle with the rotation axis p of the rotation member 401, and the angle is an acute angle. The light detection region 411 includes: a light absorbing region 411a that can absorb at least part of the light signal incident on the rotating member 401; the light reflection area 411b may reflect at least part of the light signal incident to the rotation member 401 to the light receiver 402; the light absorbing regions 411a and the light reflecting regions 411b are spirally and alternately arranged on the outer surface of the rotary member 401 in a direction around the rotation axis p.
Specifically, the light absorbing region 411a and the light reflecting region 411b are spirally provided on the truncated cone-shaped rotating member 401 in the rotation axis direction from the upper bottom surface of the rotating member 401 to the lower bottom surface of the rotating member 402. Wherein the light absorbing region 411a may be provided as a non-reflective plane coated with a light absorbing material, or as a concave surface; the light reflection region 411b may be provided as a reflective plane having optical specular reflection characteristics.
As shown in fig. 5B, the optical signal at the light absorbing region 411a is in the optical path r 1 Projected onto the light receiver 402, appearing as dark fringes or bright fringes with weaker light intensity; the optical signal at the light emitting region 411b is in the optical path r 2 The light is projected onto the light receiver 402 and is represented as bright stripes or bright stripes with high light intensity, so that a stripe pattern with alternate light and dark stripes is formed on the light receiver 402, and the bright and dark stripes are perpendicular to the rotation axis p. When the rotating member 401 rotates around the rotation axis p, the stripe pattern willDisplacement occurs in the rotation axis direction at a speed and direction corresponding to the rotation angular speed and direction of the rotating member, thereby enabling the optical encoder to detect angle information related to rotation of the rotating member 401, rotation information in the rotation axis direction, and the like; in addition, the brightness of the stripe pattern along the rotation axis direction and the stripe pitch can be changed correspondingly along with the displacement of the rotating component 401 along the rotation axis direction, so that the optical encoder can detect the displacement of the rotating component 401 along the rotation axis direction, and multi-dimensional motion detection of the optical encoder is realized.
The optical encoder shown in fig. 5C further includes an optical transmitter 403 for transmitting an optical signal to the rotating member 401, compared to the optical encoder shown in fig. 5B. In practice, the light signal emitted by the light emitter 403 generally has a certain divergence angle, and the energy of the light beam tends to be in a gaussian distribution, that is, the light beam has a higher intensity at a position closer to the center of the light beam and a lower intensity at a position farther from the center of the light beam, and the reflected light formed by the light signal emitted by the light emitter 403 after being reflected by the light detection region 411 of the rotating member 401 is also in a gaussian distribution.
However, in miniaturized electronic devices, the light emitter is usually disposed on the substrate, and the portion of the light beam emitted by the light emitter with the strongest energy is projected to the rotating member perpendicular to the substrate due to the mechanical positional relationship between the rotating member and the substrate in the electronic device, so that the portion of the light signal emitted by the light emitter with the strongest light intensity is reflected back to the light emitting plane perpendicularly, and the portion of the light beam with weaker light intensity is reflected to the side of the light emitter at an angle, so as to be received by the light receiver disposed near the light emitter and used for detecting the movement information of the rotating member.
From the above, in the reflected light formed by the light signal emitted by the light emitter after being reflected by the rotating component, the portion with the strongest light intensity cannot be received by the light receiver, so that the lower light utilization rate and the waste of power consumption of the device are caused.
However, in this embodiment, the tangential plane of the light detection area 411 and the rotation axis p of the rotation member 401 form an acute angle, that is, the tangential plane of the light detection area 411 is not parallel to the rotation axis p and to the substrate on which the light emitter 403 is located, so that the light signal emitted from the substrate perpendicular to the light emitter 403 is not reflected by the light detection area 411 and then is reflected to the outside of the light emitting plane in the same angle as the included angle α, so that the light receiver 402 can receive the detected light signal, thereby realizing the utilization of the light signal with the maximum light intensity in the light beam, avoiding the waste of the light signal, effectively improving the light utilization rate of the optical encoder, and saving the power consumption of the optical encoder.
In the optical encoder provided by the embodiment of the application, the light detection area of the rotating component can project a stripe pattern with alternate brightness and darkness on the photoelectric sensor array, and the stripe pattern can be correspondingly expressed as a pulse waveform. Fig. 6A is a schematic diagram of a projected waveform and a fringe pattern according to an embodiment of the present application. In this embodiment, the light receiver 502 is a photosensor array including a plurality of photosensors, and optical signals reflected by adjacent light absorption regions (not shown in the figure) may be respectively projected to the photosensors located at both ends of the light receiver 502. The stripe pattern projected on the photosensor array shown in fig. 6A (c) by the light detection region is shown in fig. 6A (b), and the waveform of the corresponding pulse signal is shown in fig. 6A (a). In fig. 6A (a), the horizontal axis of the waveform curve represents the corresponding position on the optical receiver 502, and the vertical axis represents the intensity of the pulse signal. When the photoelectric sensors at the two ends of the photoelectric sensor array simultaneously receive dark stripes in the stripe pattern shown in fig. 6A (b), the corresponding position of the rotating component is the detection zero point, and if the rotating component rotates until the photoelectric sensors at the two ends of the photoelectric sensor array simultaneously receive the stripe pattern shown in fig. 6A (b) again, the rotating component is rotated for 360 degrees, namely, one complete circle. Therefore, the absolute angle of rotation of the rotating member can be calculated using the following formula
Wherein k represents dark stripe correspondenceSerial number, θ of photosensors in photosensor array r The angular resolution is represented by θ (k), the absolute angle by which the rotating member corresponding to the photosensor with the number k rotates is represented by m, and the total number of photosensors in the photosensor array is represented by m.
Specifically, the serial number of each photosensor in the photosensor array may be sequentially arranged as 0,1,2, m from one end of the photosensor array to the other end.
In order to further improve the detection accuracy of the rotation angle of the rotating member, in one embodiment, as shown in fig. 6B, a pulse waveform corresponding to the light absorption region in the light detection region of the rotating member is shown in fig. 6B (a), and the position of the pulse waveform corresponds to the positions of the third photosensor 5021 and the fourth photosensor 5022 in the photosensor array shown in fig. 6B (B), that is, the waveform position corresponding to the light absorption region is just between the third photosensor 5021 and the fourth photosensor 5022. Since the pulse waveform approximates a square wave, the data can be processed as a square wave, and the absolute angle of rotation of the rotating member can be further calculated using the following formula:
where θ' represents the absolute angle of rotation of the rotating member after correction, θ (n) represents the absolute angle of rotation of the rotating member (the number of the third photosensor 5021 is n) calculated according to the above formula 2 when the dark streak corresponds to the third photosensor 5021, I 0 Indicating the intensity of the light signal reflected by the light reflecting area and projected onto the light receiver, I a Indicating the intensity of the light signal projected onto the third photosensor 5021, I b The intensity of the light signal projected onto the fourth photosensor 5022 is represented, and m represents the total number of photosensors in the photosensor array. The absolute angle calculated by the formula 2 can be corrected to improve the detection accuracy of the rotation angle of the rotating member.
At time interval t 0 In which the twice angle information θ is continuously obtained according to the formula 2 or the formula 3 x And theta y The rotational angular velocity of the rotating member is
Where ω represents the rotational angular velocity of the rotating member.
In some embodiments, the pulse waveform may be a triangular wave, a sine wave, a trapezoidal wave, or the like, and the data processing of the corresponding waveform may be implemented by adopting a waveform fitting or interpolation algorithm, so as to obtain a sampling value exceeding the total number of photoelectric sensors in the photoelectric sensor array, thereby improving the detection precision of the rotation angle of the rotating component.
Fig. 7 is a schematic structural diagram of still another optical encoder according to an embodiment of the present application. The optical encoder 60 includes: a rotating member 601, an optical receiver 602, an optical transmitter 603, and a processor 604; the outer surface of the rotating member 601 has a light detection region 611 disposed circumferentially; the light detection region 611 includes a light absorption region 611a and a light reflection region 611b; the optical transmitter 603 may transmit an optical signal to the rotating member 601; the light absorbing region 611a may absorb at least a portion of the light signal incident on the rotating member 601, and the light reflecting region 611b may reflect at least a portion of the light signal incident on the rotating member 601 to the light receiver 602. The light receiver 602 may receive a detection light signal incident to the rotating member 601 and reflected through the light detection region 611, and generate an electrical signal based on the detection light signal, and the processor 604 may process the electrical signal to determine rotational movement information such as a rotation angle, a rotation direction, and a rotation angular velocity of the rotating member.
In one embodiment, the processor 604 may further control the light emitter 603 to emit light signals, so as to adjust the light emitter according to the movement condition of the rotating component in real time, so as to optimize the detection effect of the optical encoder and improve the working efficiency of the optical encoder.
In particular, the processor 604 may include one or more MCUs (Microcontroller Unit, micro control units), DSPs (digital signal processor, data processors), FPGAs (Field Programmable Gate Array, field programmable gate arrays) or logic circuits having similar functions, or may further include ADC (Analog-to-Digital convertor) modules.
In this embodiment, the rotating member 601, the light receiver 602, the light emitter 603, the light detection region 611, the light absorption region 611a, and the light reflection region 611b may have the same or similar shape, structure, and function as the corresponding elements in fig. 1,2, or 5A to 5C, and will not be described again here. The processor 604 may process the pulse waveform output from the light receiver 604 according to the above-described formulas 1 to 4 to determine the rotational movement information of the rotating member 601.
Fig. 8 is a schematic flow chart of a method for detecting rotational motion information according to an embodiment of the present application.
Step S01: the position of the detection zero point is determined.
If the light receiver is a photosensor array including a plurality of photosensors, when the photosensors at both ends of the light receiver receive dark fringes simultaneously, the processor may set the position corresponding to the rotating member to a detection zero point, that is, a position when the absolute angle of rotation of the rotating member is 0 degrees or just rotates through one or more complete rotations. The dark fringes are the optical signals reflected by the light absorbing areas in the light detecting areas corresponding to the rotating member.
In addition, the processor may calculate the angular resolution θ of the optical encoder according to equation 1 in advance r And angle resolution theta r This parameter is written as an initial parameter into the memory to prevent loss of power, and as can be seen from equation 2, the absolute angle of rotation of the rotating member can be calculated directly based on the angular resolution θ r The calculation is performed without re-calculating the angular resolution θ each time the absolute angle is calculated r To improve the efficiency of data processing.
Step S02: when the rotating component rotates, the processor controls the light emitter to emit light signals to the rotating component, and the light receiver receives the detection light signals and converts the detection light signals into electric signals to be output.
Step S03: the processor receives the electrical signal and processes it to obtain the absolute angle of rotation of the rotating member.
Specifically, the processor may calculate the absolute angle of rotation of the rotating member according to equation 2 or equation 3.
Step S04: the processor calculates a rotational angular velocity and a rotational direction of the rotating member based on the absolute angle.
Specifically, the processor may calculate the rotation angular velocity of the rotating member according to equation 4, and determine whether the rotation direction is clockwise or counterclockwise based on the positive or negative of the difference between the absolute angle of the current rotation of the rotating member and the absolute angle of the previous rotation.
Fig. 9 is a schematic structural diagram of an electronic device according to an embodiment of the present application, including an optical encoder according to any one of the possible embodiments of the present application.
Specifically, the electronic device 100 may be a smart watch, including:
a housing;
the crown part is arranged on the shell and is used for receiving the operation of a user; and
an optical encoder as in any one of the possible embodiments of the present application, coupled to the crown, for detecting user manipulation of the crown.
Because the optical encoder provided by the embodiment of the application adopts the helical tooth spiral structure to realize the light absorption area or the light reflection area, the complexity of a processing technology can be effectively reduced, the processing cost is saved, and the miniaturization design is realized, so that the optical encoder can be better suitable for small or compact wearable or portable electronic equipment such as a smart watch.
By way of example, and not limitation, the electronic device in embodiments of the present application may include devices capable of performing complete or partial functions, such as smartphones, smartwatches, or smart glasses, etc.; devices that focus only on certain types of application functions and that need to be used with other devices, such as smartphones, etc., may also be included, such as various types of smartphones, smartjewelry, etc., for physical sign monitoring. The depth detection device may be configured to measure depth information of a detection target, and the control unit may receive the depth information to perform operation control on at least one function of the electronic device, for example, may perform distance-based photographing auxiliary focusing according to the measured depth information of the face, or unlock the electronic device according to the depth information, and so on.
When the electronic device is a wristwatch, the crown is disposed on a side thereof, and the rotary member of the optical encoder is connected to the crown so that the rotary member can move with the movement of the crown.
It will be appreciated by those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional modules is illustrated, and in practical application, the above-described functional allocation may be performed by different functional modules according to needs, i.e. the internal structure of the apparatus is divided into different functional modules to perform all or part of the functions described above. In addition, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices, or elements, or may be an electrical, mechanical, or other form of connection.
It should be noted that, on the premise of no conflict, each embodiment and/or technical features in each embodiment described in the present application may be combined with each other arbitrarily, and the technical solutions obtained after combination should also fall into the protection scope of the present application.
While the invention has been described with reference to certain preferred embodiments, it will be understood by those skilled in the art that various changes and substitutions of equivalents may be made and equivalents will be apparent to those skilled in the art without departing from the scope of the invention. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (9)
1. An optical encoder for use in an electronic device, the optical encoder comprising: a rotating component, an optical receiver, and a processor;
the outer surface of the rotating component is provided with a light detection area which is arranged in a surrounding manner;
the light detection region includes a light absorption region and a light reflection region; the light absorbing region is configured to absorb at least a portion of the light signal incident on the rotating member; the light reflection area is used for reflecting at least part of the light signal incident on the rotating component to the light receiver; the light detection area is used for enabling a detection light signal to generate bright stripes and dark stripes along with the rotary motion of the rotary component on the light receiver; the light absorbing region is for producing the dark stripe; the light reflection area is used for generating the bright stripes;
the optical receiver is used for receiving a detection optical signal which is incident to the rotating component and reflected by the optical detection area, and generating an electric signal according to the detection optical signal so as to determine the rotating motion information of the rotating component;
wherein the light absorption area or the light reflection area is spirally arranged around the outer surface of the rotating component in a helical shape, and the helix angle is smaller than 90 degrees;
the processor is used for processing the electric signal generated by the optical receiver to determine the rotation movement information of the rotating component; the light receiver includes at least two photosensors arranged in a direction parallel to a rotation axis of the rotating member;
when the optical signals reflected by the adjacent optical absorption areas are respectively projected to a first photoelectric sensor and a second photoelectric sensor, the processor is used for setting the absolute angle of the rotating component to be 0 degrees, and the first photoelectric sensor and the second photoelectric sensor are respectively photoelectric sensors positioned at two ends of the optical receiver;
the processor is further configured to calculate an angular resolution of the optical encoder according to a total number of the photosensors in the optical receiver, and the processor calculates the angular resolution of the optical encoder using the following formula:
θ r ＝360°/(m-1)，
where m represents the total number of photosensors in the optical receiver.
2. The optical encoder of claim 1, wherein the processor calculates the absolute angle of rotation of the rotating member using the formula:
wherein k represents the serial number of the photoelectric sensor in the light receiver corresponding to the dark stripe, and m represents the total number of the photoelectric sensors in the light receiver; the serial number of each photoelectric sensor in the light receiver is arranged to be 0,1,2 from one end to the other end of the light receiver in sequence.
3. The optical encoder of claim 2, wherein when the light signals reflected by the light absorbing region are respectively projected to the third and fourth photosensors, the processor calculates the absolute angle of rotation of the rotating member after correction using the following formula:
wherein θ (n) represents an absolute angle by which the rotating member rotates when the dark stripe corresponds to the third photosensor, n represents a serial number of the third photosensor, I 0 Indicating the intensity of the light signal reflected by the light reflecting area and projected onto the light receiver, I a Indicating the intensity of the light signal projected onto the third photosensor, I b Indicating the intensity of the light signal projected onto the fourth photosensor.
4. An optical encoder according to claim 2 or 3, wherein a lens is provided between the light receiver and the rotating member;
the lens is used for adjusting the focusing position of the detection light signals so that the light signals reflected by the adjacent light absorption areas are respectively projected to the first photoelectric sensor and the second photoelectric sensor.
5. An optical encoder according to any one of claims 1 to 3, further comprising: an optical transmitter for transmitting an optical signal to the rotating member.
6. An optical encoder according to any one of claims 1 to 3, wherein the tangential plane of the light detection region and the axis of rotation of the rotating member form an angle therebetween, and wherein the angle is acute.
7. An optical encoder according to any one of claims 1 to 3, wherein the light absorbing regions and the light reflecting regions are spirally and alternately arranged on the outer surface of the rotary member in a direction around the rotation axis of the rotary member.
8. An electronic device, comprising:
a housing;
a crown portion provided on the housing for receiving a user's operation; and
the optical encoder of any of claims 1 to 7, coupled with the crown for detecting the manipulation of the crown by the user.
9. The electronic device of claim 8, wherein the electronic device is a wristwatch, the crown is disposed on a side of the wristwatch, and a rotating member of the optical encoder is coupled to the crown such that the rotating member moves with movement of the crown.
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| CN202122186022 | 2021-09-09 | ||
| CN202122186022X | 2021-09-09 |
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| CN202221186619.2U Active CN217845221U (en) | 2021-09-09 | 2022-05-17 | Reflecting element, optical encoder and electronic device |
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| WO (1) | WO2023035476A1 (en) |
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| WO2007108398A1 (en) * | 2006-03-20 | 2007-09-27 | Kabushiki Kaisha Yaskawa Denki | Optical encoder |
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| CN102918363B (en) * | 2010-05-31 | 2015-05-20 | 株式会社安川电机 | Rotary encoder, rotary motor and rotary motor system |
| US9797752B1 (en) * | 2014-07-16 | 2017-10-24 | Apple Inc. | Optical encoder with axially aligned sensor |
| US10145712B2 (en) * | 2014-09-09 | 2018-12-04 | Apple Inc. | Optical encoder including diffuser members |
| JP6958237B2 (en) * | 2017-10-30 | 2021-11-02 | セイコーエプソン株式会社 | Encoder scales, encoder scale manufacturing methods, encoders, robots, electronic component transfer devices, printers and projectors |
| CN110794383A (en) * | 2019-11-07 | 2020-02-14 | 上海禾赛光电科技有限公司 | Code disc, photoelectric encoder and laser radar |
| CN211601989U (en) * | 2020-01-06 | 2020-09-29 | 北京锐达芯集成电路设计有限责任公司 | Photoelectric encoder |
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- 2021-12-31 CN CN202111671643.5A patent/CN114323094B/en active Active
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| US3658427A (en) * | 1969-11-28 | 1972-04-25 | Anthony B Decou | Attitude sensor, and system for controlling attitude of an object |
| JP2013250197A (en) * | 2012-06-01 | 2013-12-12 | Panasonic Corp | Angle measurement apparatus |
| US10190891B1 (en) * | 2014-07-16 | 2019-01-29 | Apple Inc. | Optical encoder for detecting rotational and axial movement |
| CN205403811U (en) * | 2015-03-05 | 2016-07-27 | 苹果公司 | Optical encoder and portable electronic equipment |
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| CN114323094A (en) | 2022-04-12 |
| WO2023035476A1 (en) | 2023-03-16 |
| CN217845221U (en) | 2022-11-18 |
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