CN116538960A - Absolute coding and decoding method - Google Patents
Absolute coding and decoding method Download PDFInfo
- Publication number
- CN116538960A CN116538960A CN202310523603.9A CN202310523603A CN116538960A CN 116538960 A CN116538960 A CN 116538960A CN 202310523603 A CN202310523603 A CN 202310523603A CN 116538960 A CN116538960 A CN 116538960A
- Authority
- CN
- China
- Prior art keywords
- code
- absolute
- decoding method
- groups
- scanning
- 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.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 46
- 239000011295 pitch Substances 0.000 claims description 30
- 239000011159 matrix material Substances 0.000 abstract description 5
- 238000005516 engineering process Methods 0.000 abstract description 4
- 238000012935 Averaging Methods 0.000 abstract description 2
- 230000005540 biological transmission Effects 0.000 abstract description 2
- 238000005259 measurement Methods 0.000 description 8
- 238000001514 detection method Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 238000006073 displacement reaction Methods 0.000 description 6
- 230000003287 optical effect Effects 0.000 description 5
- 230000005855 radiation Effects 0.000 description 5
- 238000004422 calculation algorithm Methods 0.000 description 2
- 230000006698 induction Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 238000009795 derivation Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 230000007274 generation of a signal involved in cell-cell signaling Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
-
- 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
- G01D5/3473—Circular or rotary encoders
-
- 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
Abstract
The invention relates to an absolute coding and decoding method, wherein two kinds of incremental codes with different angle grid distances are arranged in a code channel applicable to the absolute coding and decoding method, and each of the two kinds of incremental codes occupies half circles and is connected end to form a circle of complete code; the absolute encoding and decoding method includes the steps of: step 1: scanning different parts of the code channel through a plurality of groups of scanning units; step 2: and judging the relative positions of the code disc and the reading head by utilizing the scanning phase differences of the plurality of groups of scanning units. The absolute coding and decoding method of the invention further improves the miniaturization level of the absolute encoder by adopting different period gratings to synthesize a code channel, improves the signal anti-pollution capability by adopting a multi-grating averaging technology, overcomes the problem that the light transmission efficiency is reduced due to the need of a single slit window for matrix coding, and simultaneously has the problem that the anti-pollution capability of the free code is strong, but the absolute position can be represented without the need of a plurality of code channels like a cursor code.
Description
Technical Field
The invention relates to an encoding and decoding method for angular displacement measurement, in particular to an absolute encoding and decoding method.
Background
The angular displacement measurement technology is widely applied to occasions needing angular measurement, including machine tool industry, elevator industry, various manufacturing industries and the like. The angular displacement measurement technical schemes are also various, and the angular displacement measurement schemes are divided into an incremental type and an absolute type from the measurement function by taking a photoelectric conversion measurement mode as an example. Wherein the incremental type mainly uses moire fringe technology; the absolute type is mainly characterized by absolute codes, including binary codes, gray codes, matrix Gray codes, vernier codes, pseudo random codes and the like.
Binary coding has the characteristic of simple decoding, does not need a complex decoding process, has relatively high decoding speed, but can have the problem of coarse errors under the condition of grating ruling errors. The Gray code coding is characterized in that only one bright-dark alternate seam exists at any place where bright-dark alternate exists, so that the problem of which of any two detectors changes first does not exist, and coarse errors existing in binary coding are eliminated. However, gray code-barcode tracks represent a binary number of bits, so to increase the number of bits, the number of tracks must be increased, which increases the area of the code wheel and thus the volume of the encoder. In order to reduce the size of the encoder, the information of a plurality of code channels can be concentrated on one code channel, for example, an absolute matrix encoder is adopted, and the encoding method adopts complex selection logic to concentrate a plurality of Gray code information on one code channel, and generally adopts two or three code channels for absolute position encoding. However, the multi-bit coexisting code channels of this type of encoder can only be designed with a single slit, and the slit width can only be designed with a smaller slit than the minimum pitch on the code channel, and therefore, the anti-pollution capability needs to be improved. The free code can realize the coding of the absolute position, and the absolute position information is obtained by adopting the relative phase change, but the absolute position can still be obtained by adopting a plurality of code tracks, and generally, at least 3 codes are adopted to meet the requirement of a circular encoder. The pseudo-random coding is required to adopt an integrated chip mode, the bottom layer driving is relatively complex, more pixels are required, the time required for serial output of the pixels is long, and the algorithm is relatively complex.
The development trend of the encoder is miniaturization and high precision and high resolution, meanwhile, the demands on reading reliability and stability are also needed, and for the miniaturized matrix coding method and vernier coding method, absolute coding can be realized only by adopting a multi-code way mode, the processing method of the pseudo-random coding method is relatively complex, and the space for realizing miniaturization and decoding simplicity and pollution resistance is still quite large.
Disclosure of Invention
The invention provides an absolute coding and decoding method for further improving the miniaturization level of an absolute coder, improving the anti-pollution capability of signals and reducing the requirements on light intensity.
An absolute coding and decoding method, among the code channels to which the absolute coding and decoding method is applicable, there are two kinds of increment codes with different angle grid pitches, and each of the two kinds of increment codes occupies a half circle and is connected end to form a circle of complete code;
the absolute encoding and decoding method includes the steps of:
step 1: scanning different parts of the code channel through a plurality of groups of scanning units;
step 2: and judging the relative positions of the code disc and the reading head by utilizing the scanning phase differences of the plurality of groups of scanning units.
In the above technical solution, step 1 specifically includes:
and scanning a plurality of groups of position signals on the code channel through a plurality of groups of scanning units to obtain at least two groups of position information arranged on the code channel.
In the above technical solution, step 2 specifically includes:
defining the angular pitch and phase relation of incremental coding of two different angular pitches, and position information between at least two groups of scanning units; and if the position information meets the corresponding phase relation, obtaining absolute position information, and if the absolute position information does not meet the phase relation, obtaining error information.
In the above technical scheme, the incremental codes of the two different angular grating pitches respectively satisfy:
wherein R is a Representing the angular pitch, R, of the first grating b The angular pitch of the second grating is represented, and N represents the total angular pitch number of the code track.
In the above technical solution, 3 groups of scanning units are provided in step 1; the 3 groups of scanning units are respectively used for scanning 3 different positions of the code channel, and the relative angular position relation between the 3 groups of scanning units and the code disc is obtained through the obtained position subdivision, so that the relative angular position relation between the code disc and the reading head is obtained.
In the above technical solution, at least 1 code channel for obtaining more precise position information is provided among code channels to which the absolute encoding and decoding method is applied.
In the above technical solution, at least 1 track containing gray code position information is provided in the code channels to which the absolute encoding and decoding method is applied, for increasing the amount of reading head position information.
In the above technical solution, the code channels applicable to the absolute encoding and decoding method include at least 2 code channels with different angular grating pitches.
In the above technical solution, the scanning unit includes a light source, an indication grating, and a photosensitive unit.
In the above technical solution, each group of the position signals is divided into 4 groups, and the phase differences obtained respectively are 0 degree, 90 degrees, 180 degrees and 270 degrees in sequence.
The invention has the beneficial effects that:
the absolute coding and decoding method of the invention further improves the miniaturization level of the absolute encoder by adopting different period gratings to synthesize a code channel, improves the signal anti-pollution capability by adopting a multi-grating averaging technology, overcomes the problem that the light transmission efficiency is reduced due to the need of a single slit window for matrix coding, and simultaneously has the problem that the anti-pollution capability of the free code is strong, but the absolute position can be represented without the need of a plurality of code channels like a cursor code.
Drawings
The invention is described in further detail below with reference to the drawings and the detailed description.
FIG. 1 is a schematic diagram of the structure of a code wheel and a detector in one embodiment of the absolute encoding and decoding method of the present invention;
FIG. 2 is a schematic diagram of the phase relationship of three sets of scanning units as a function of position in the embodiment shown in FIG. 1;
FIG. 3 is a schematic diagram of a code wheel under a closely spaced grating according to another embodiment of the absolute encoding and decoding method of the present invention;
FIG. 4 is a schematic view of a photovoltaic cell under a closely spaced grating in the embodiment shown in FIG. 3;
FIG. 5 is a schematic diagram of an indicator grating under the closely spaced gratings in the embodiment shown in FIG. 3;
FIG. 6 is a schematic view of photocells in a four-scan cell detection mode in yet another embodiment of the absolute encoding and decoding method of the present invention;
FIG. 7 is a schematic diagram of an indication raster in a four scan cell detection scheme in the embodiment shown in FIG. 6;
reference numerals in the drawings denote:
10-a first code wheel; 11-a first scanning unit group; 12-a second scanning unit group; 13-a third scanning unit group; 14-first delta coding; 15-second delta encoding; 16-rotating shaft; 17-dashed line;
20-a second code wheel; 21-a first mask; 22-a second mask; 23-a third mask; 24-third delta coding; 25-fourth delta coding; 27-a first indicator grating; 28-a fifth scan cell group; 29-a sixth scan cell group; 210-a seventh scan cell group; 211-a first circuit board;
311-a second circuit board; 312-fourth mask; 313-fifth mask; 314-sixth mask; 315-seventh mask; 322-eighth scan cell group; 323-ninth scanning unit group; 324-tenth scanning unit group; 325-eleventh scan cell group; 327-second indicator grating.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings.
The absolute coding and decoding method related by the invention can be applied to angular displacement measurement, and the signal generation principle can be optical radiation type, capacitance induction type, magnetic induction type or electric conduction type. In the present invention, an optical radiation type angular displacement measuring device is described as an example, and generally comprises a light source, an indication grating (if any), a code wheel, a photosensitive element, a processing circuit, a mechanical structure, and the like. The present invention is primarily directed to an absolute encoding and decoding method and is therefore directed to indicating gratings, code discs, photosensitive elements, and processing algorithms that are closely related thereto, and other features are not specific to the present invention and are not explicitly described, but do not affect the integrity of the claims herein.
The invention relates to an absolute coding and decoding method, which is applicable to code channels with two incremental codes with different angle grid distances, wherein the two incremental codes respectively occupy half circles and are connected end to form a circle of complete codes;
the absolute encoding and decoding method includes the steps of:
step 1: scanning different parts of the code channel through a plurality of groups of scanning units;
step 2: and judging the relative positions of the code disc and the reading head by utilizing the scanning phase differences of the plurality of groups of scanning units.
The step 1 specifically comprises the following steps: and scanning a plurality of groups of position signals on the code channel through a plurality of groups of scanning units to obtain at least two groups of position information arranged on the code channel.
The step 2 is specifically as follows: defining the angular pitch and phase relation of incremental coding of two different angular pitches, and position information between at least two groups of scanning units; and if the position information meets the corresponding phase relation, obtaining absolute position information, and if the absolute position information does not meet the phase relation, obtaining error information.
The incremental coding of the two different angular grating pitches respectively meets the following conditions:
wherein R is a Representing the angular pitch, R, of the first grating b The angular pitch of the second grating is represented, and N represents the total angular pitch number of the code track.
Example 1
The code wheel and detector of the present invention are shown in fig. 1, wherein the 2 periodic patterns corresponding to the code channels in fig. 1 are conveniently separated by a dashed line 17, and the angular pitch R is illustrated by n=9 for further explanation without loss of generality a And R is b R is as described in formula (1) and formula (2), respectively a ＝18.9473°，R b Here, taking the case of no indication grating as an example, the first scanning unit group 11, the second scanning unit group 12, and the third scanning unit group 13 directly receive a light source (not shown in the light source diagram), and may also use the indication grating to perform filtering to obtain corresponding light intensity information, which will be described later.
The pattern on the first code wheel 10 comprises a first incremental code 14 and a second incremental code 15, each having an angular pitch R a And R is b The two kinds of angular grid distance calculation are described in the formula (1) and the formula (2), wherein N is a positive integer. The first scanning unit group 11, the second scanning unit group 12 and the third scanning unit group 13 respectively receive optical radiation signals, the structures of the first scanning unit group 11, the second scanning unit group 12 and the third scanning unit group 13 are the same, but the first scanning unit group 11, the second scanning unit group 12 and the third scanning unit group 13 are positioned at different positions on the first code disc 10 and are used for receiving the optical radiation signals at the different positions, the optical radiation signals represent position information corresponding to the scanning units, each scanning unit respectively comprises a group of photosensitive structures, the group of photosensitive structures can obtain several paths of signals, such as 4 paths, for forming electric signals which are sequentially increased by 90 degrees, namely, a combination formed according to a four-phase receiving principle, which is known in the encoder field, the group of photosensitive structures can also be 3 paths, for forming electric signals which are sequentially increased by 120 degrees, and the light intensity phase signals of the position of the detector can be obtained through specific mathematical operation. The first scanning unit set 11, the second scanning unit set 12 and the third scanning unit set 13 are fixedly connected together, for example, by a circuit board, and the distance between the first scanning unit set and the second scanning unit set is not changed. And the circuit board and the first code wheel 10 canRelative rotation is made about the axis of rotation 16. Whereas the angle of relative rotation or the corresponding angular position is typically the physical quantity that needs to be measured.
The incremental encoded pitch and phase relation of the two different pitches is defined, as well as the position information between groups of scanning units, which together result in absolute position information between the code wheel and the groups of scanning units. In this embodiment, in formulas (1) and (2), since two different incremental codes each occupy half a turn, that is, 180 °, and are phase-connected, that is, the two ends of the first incremental code 14 are arranged in a counterclockwise arrangement starting from 0 ° to 180 ° of the incremental code period, and the second incremental code 15 is arranged starting from the end of the first incremental code 14, ending from 180 ° to 0 ° of the incremental code period, as shown in fig. 1. The first incremental code 14 thus occupies a pitch of R a The incremental encoding cycle number isThe second incremental code 15 occupies a grid pitch R b The incremental encoding cycle number is +.>When the scanning unit group (the first scanning unit group 11, the second scanning unit group 12 or the third scanning unit group 13) rotates 360 ° relative to the first code wheel 10, signals of 2N periods are received, and the first scanning unit group 11, the second scanning unit group 12 and the third scanning unit group 13 are sequentially different by 90 ° (the circumference of the code wheel is regarded as 360 °), which is to be noted here, the arrangement is not unique, the same arrangement can obtain absolute position information of the rotation angle of the first code wheel 10 (if not specially explained, the code wheel is regarded as a moving part), and the invention is not limited to such a detector arrangement, so long as the absolute position of the rotation angle of the first code wheel 10 can be obtained by reasonably distributing the scanning unit groups on the first code wheel 10 through the relation among the signals and decoding a similar way as will be described below.
It should be noted that the first scan cell group 11, the second scan cell group 12, and the third scan cell group 13 are rotated 360 ° relative to the first code wheel 10, and each receive signals with 2N periods, but since there is more than one incremental period of encoding, the phase difference between the three scan cell groups will vary with the angular position of the first code wheel 10, as shown in fig. 2.
Fig. 2 shows the variation of the Phase difference between the three scan cell groups with the rotation angle of the code disc, where Phase1 represents the grating Phase value detected by the first scan cell group 11, phase2 represents the grating Phase value detected by the second scan cell group 12, and Phase3 represents the grating Phase value detected by the third scan cell group 13. The decoding method in the present embodiment will be described below, in which the code wheel rotates from 0 ° to 360 °, and the Phase difference takes a value of between 0 ° and 360 °, as shown in fig. 2, from 0 ° to 90 °, phase2-Phase1 is equal to 90 °, from 90 ° to 180 °, phase3-Phase2 is equal to 0 °, from 180 ° to 270 °, phase2-Phase1 is equal to 0 °, from 270 ° to 360 °, and Phase3-Phase2 is equal to 90 °. Such a phase relation must be satisfied between the 3 sets of position information, and if the corresponding phase relation is satisfied, the absolute position information may be obtained by the following formula, and if not, error information may be obtained.
The rotation angle theta is calculated as follows:
at 0 ° to 180 °, theta = 180 ° - (Phase 3-Phase 1);
at 180 ° to 360 °, theta=180° + (Phase 3-Phase 1).
Example 2
The invention is equally applicable to cases where the incremental grating period is small. The grid pitch also satisfies the formulas (1) and (2), as shown in fig. 3, the third incremental code 24 and the fourth incremental code 25 are engraved on the second code wheel 20, and cannot directly receive the light energy through the photocell, and the first indication grating 27 shown in fig. 4, the fifth scanning unit group 28, the sixth scanning unit group 29 and the seventh scanning unit group 210 on the first circuit board 211 in fig. 5 need to be adopted, so that the light signals passing through the first mask 21, the second mask 22 and the third mask 23 are collected respectively. The absolute angular position can be obtained using the above derivation, using well known moire principles, with the phase differences between the signals received by the photocells shown in fig. 4, the fifth scanning unit group 28, the sixth scanning unit group 29, and the seventh scanning unit group 210 satisfying fig. 5.
Example 3
According to the decoding method in the above embodiment 2, the decoding relies on the determination of the phase difference of the signals received by the respective scanning unit groups (the fifth scanning unit group 28, the sixth scanning unit group 29, and the seventh scanning unit group 210), so that the accuracy of the phase detection is important, and in the detecting method in the above embodiment 2, although the angular position of the code wheel can be obtained, there is not enough signal to reliably detect the accuracy of the obtained signal. Therefore, it is necessary to use the detection method as shown in fig. 6 and 7, and this detection method is added with one scanning unit group on the basis of the detection method of fig. 3 and 4.
As shown in fig. 7, the eighth scanning unit group 322, the ninth scanning unit group 323, the tenth scanning unit group 324, and the eleventh scanning unit group 325 on the second circuit board 311 are sequentially different by 90 ° (with the circumference of the code disc as 360 °); as shown in fig. 6, a fourth mask 312, a fifth mask 313, a sixth mask 314, and a seventh mask 315 on the corresponding second index grating 327. This arrangement has the advantage that any three of the groups of scanning units can form an absolute position code, so that more than one group of scanning units can be used to check for possible errors. Since four readings (any combination of three scan cell groups, four combinations) can be constructed, if there are erroneous signals in them, the decoding results of these four readings will be different and thus a possible signal error can be detected.
In summary, the present invention is not limited to the above embodiment, for example, the number of the scan unit groups may be increased to increase the reliability of the reading and improve the error detection capability, and 1 or more subdivision code channels may be added on the basis of the present coding method, so as to further subdivide the position to obtain more precise position information. Or more than or equal to 1 track containing Gray code position information is added for increasing the reading head position information amount. On the basis of the code channel, more than or equal to 1 code channel with the same principle as the code channel and different angle grating distances (namely, different parameters N in formulas 1 and 2) can be added, and the code channels are matched with the original code channel to form absolute angle position information with larger information quantity and higher precision.
It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. While still being apparent from variations or modifications that may be made by those skilled in the art are within the scope of the invention.
Claims (10)
1. An absolute coding and decoding method is characterized in that two kinds of incremental codes with different angle grid distances are arranged in a code channel suitable for the absolute coding and decoding method, and each of the two kinds of incremental codes occupies half circles and is connected end to form a circle of complete codes;
the absolute encoding and decoding method includes the steps of:
step 1: scanning different parts of the code channel through a plurality of groups of scanning units;
step 2: and judging the relative positions of the code disc and the reading head by utilizing the scanning phase differences of the plurality of groups of scanning units.
2. The absolute encoding and decoding method according to claim 1, wherein step 1 is specifically:
and scanning a plurality of groups of position signals on the code channel through a plurality of groups of scanning units to obtain at least two groups of position information arranged on the code channel.
3. The absolute encoding and decoding method according to claim 1, wherein step 2 is specifically:
defining the angular pitch and phase relation of incremental coding of two different angular pitches, and position information between at least two groups of scanning units; and if the position information meets the corresponding phase relation, obtaining absolute position information, and if the absolute position information does not meet the phase relation, obtaining error information.
4. The absolute encoding and decoding method according to claim 3, wherein the incremental encoding of the two different angular pitches, the angular pitches respectively satisfy:
wherein R is a Representing the angular pitch, R, of the first grating b The angular pitch of the second grating is represented, and N represents the total angular pitch number of the code track.
5. The absolute encoding and decoding method according to claim 2, wherein 3 groups of the scanning units are provided in step 1; the 3 groups of scanning units are respectively used for scanning 3 different positions of the code channel, and the relative angular position relation between the 3 groups of scanning units and the code disc is obtained through the obtained position subdivision, so that the relative angular position relation between the code disc and the reading head is obtained.
6. The method of claim 1, wherein at least 1 code channel is provided for obtaining more precise position information.
7. The method of claim 1, wherein at least 1 track containing gray code position information is provided in the code channels to which the method is applied for increasing the amount of reading head position information.
8. The method according to claim 1, wherein the code channels to which the method is applied include at least 2 code channels having different angular pitches.
9. The absolute encoding and decoding method according to any one of claims 1 to 8, wherein the scanning unit comprises a light source, an indication grating, and a light-sensitive unit.
10. The absolute encoding and decoding method according to claim 2 or 5, wherein each of the position signals is divided into 4 groups, and the phase differences obtained respectively are 0 degrees, 90 degrees, 180 degrees, 270 degrees in order.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310523603.9A CN116538960A (en) | 2023-05-10 | 2023-05-10 | Absolute coding and decoding method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310523603.9A CN116538960A (en) | 2023-05-10 | 2023-05-10 | Absolute coding and decoding method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116538960A true CN116538960A (en) | 2023-08-04 |
Family
ID=87453847
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310523603.9A Pending CN116538960A (en) | 2023-05-10 | 2023-05-10 | Absolute coding and decoding method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116538960A (en) |
-
2023
- 2023-05-10 CN CN202310523603.9A patent/CN116538960A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN201780116U (en) | Photoelectric encoder for detecting rotation speed and rotation angle of rotating objects | |
| CN111366178B (en) | Code disc, light detector, encoder and code value output, error detection and error correction method | |
| US20050236560A1 (en) | Absolute encoder | |
| CN1264001C (en) | Universal coding method of single loop absolute type angle coder | |
| CN1330932C (en) | Full digital addition processing circuit for incremental photoelectric shaft-position encoder | |
| EP2878928A1 (en) | Absolute encoder, signal processing method, program, driving apparatus, and industrial machine | |
| CN101922947A (en) | Photoelectric encoder | |
| CN102788602A (en) | Quasi absolute type optical encoder | |
| CN201819692U (en) | Single-code-channel photoelectric encoder for detecting rotation speed and rotation angle of rotating article | |
| CN101984328B (en) | Single-code channel photoelectric coder | |
| JPH0713569B2 (en) | Incremental rotary encoder | |
| KR101456882B1 (en) | Digital opto-electrical pulse application method for correcting bit error of vernier-type optical encoder | |
| CN116538960A (en) | Absolute coding and decoding method | |
| CN111811562B (en) | Incremental photoelectric encoder fine and coarse correction method based on microcontroller | |
| CN2771823Y (en) | Absolute angle coder | |
| CN219265348U (en) | High-precision hybrid coding device | |
| CA2740250A1 (en) | Optical encoder | |
| US6759647B2 (en) | Projection encoder | |
| CN111735483B (en) | Absolute position identification method for incremental photoelectric encoder | |
| CN110132327B (en) | Photoelectric encoder | |
| CN110375776B (en) | Rotary encoder | |
| CN201060501Y (en) | Coding character wheel for counter | |
| CN112880571A (en) | Absolute grating ruler | |
| JPH06347288A (en) | Absolute encoder | |
| CN108592960B (en) | Absolute value encoder and working method thereof |
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 |