CN116858134B - High-precision photoelectric angular displacement sensor position resolving method and device - Google Patents
High-precision photoelectric angular displacement sensor position resolving method and device Download PDFInfo
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Abstract
The invention relates to the technical field of aerospace movement measurement and control, in particular to a high-precision photoelectric angular displacement sensor position resolving method and device, wherein the method comprises the following steps: acquiring at least one line of stripe image data acquired by a reader; pretreating; carrying out electronic subdivision to the required precision; determining the data length corresponding to the single stripe bit; grouping one line of stripe image data subjected to electronic subdivision to obtain a plurality of groups of data; determining the optimal sampling point of the current stripe bit; based on the gray level of the optimal sampling point of each current stripe bit, obtaining a corresponding position code, and determining the rough reading of the current code disc position by combining with a coding rule; determining a fine reading of the current code wheel position based on the position of the optimal sampling point of the current stripe bit in a set of data corresponding to the single stripe bit; and determining the specific position of the current code wheel, and further determining the angular displacement. The invention can rapidly and accurately calculate the current code disc position.
Description
Technical Field
The embodiment of the invention relates to the technical field of aerospace movement measurement and control, in particular to a high-precision photoelectric angular displacement sensor position resolving method and device.
Background
The photoelectric angular displacement sensor is a position measuring device which is widely applied in an aerospace mission control system and is used for measuring angular displacement. In order to meet the requirements of aerospace tasks on the aspects of ultra-high precision pointing, ultra-high stability control, non-cooperative relative measurement, autonomous sensing capability and the like of a control system, a high-precision photoelectric angular displacement sensor based on machine vision becomes an important development direction. The photoelectric angular displacement sensor consists of a reader and a cylindrical code disc, wherein the reader is used for imaging coding patterns marked on the code disc, codes in the images are identified and decoded to determine position information, and when the code disc rotates, the identified position information also changes, so that the angular displacement change is indicated.
At present, the common photoelectric angular displacement sensor position calculating method is complex in processing process and low in precision, and the precision and response speed of the photoelectric angular displacement sensor are directly affected.
Disclosure of Invention
Aiming at least part of the defects, the embodiment of the invention provides a high-precision photoelectric angular displacement sensor position resolving method and device, which can accurately resolve the specific position of the current code wheel, further determine the angular displacement and have high processing speed.
In a first aspect, an embodiment of the present invention provides a method for resolving a position of a high-precision photoelectric angular displacement sensor, including:
acquiring at least one line of stripe image data acquired by a reader; the stripe image data are obtained by shooting a position coding pattern distributed on a code disc by the reader, the position coding pattern records position coding information by stripe bits which are of equal width and are distributed in parallel in the transverse direction, the length direction of each stripe bit is vertically arranged, and each stripe bit is provided with a stripe representation 0 code and a stripe-free representation 1 code;
preprocessing the acquired line stripe image data to reduce noise;
electronically subdividing the noise-reduced line stripe image data to a required precision;
determining the data length L corresponding to a single stripe bit based on one row of stripe image data subjected to electronic subdivision;
grouping one row of stripe image data subjected to electronic subdivision according to the data length L corresponding to a single stripe bit to obtain a plurality of groups of data, wherein the length of each group of data is L;
determining the optimal sampling point of the current stripe bit based on each obtained set of data;
based on the gray level of the optimal sampling point of each current stripe bit, obtaining a corresponding position code, and determining the rough reading of the current code disc position by combining with a coding rule;
determining a fine reading of the current code wheel position based on the position of the optimal sampling point of the current stripe bit in a set of data corresponding to the single stripe bit;
and determining the specific position of the current code disc according to the rough reading and the fine reading of the current code disc position, and further determining the angular displacement.
Optionally, the determining the data length L corresponding to the single stripe bit based on the electronically subdivided line stripe image data includes:
based on one line of stripe image data subjected to electronic subdivision, obtaining corresponding frequency domain data through Fourier transformation;
extracting the fundamental frequency of the signal according to the obtained frequency domain data;
based on the extracted fundamental frequency of the signal, the data length L corresponding to the single stripe bit is determined.
Optionally, the determining, based on the obtained sets of data, the optimal sampling point of the current stripe bit includes:
determining the direct current of the stripe image based on each obtained set of data;
numbering individual electronically subdivided data points in each set of data from 0 to L-1;
accumulating absolute values of the gray scales of the electronic subdivision data points with the same number in each group of data after the difference is made between the gray scales of the electronic subdivision data points and the direct current;
and taking the number with the largest sum of absolute values as the number of the optimal sampling point to determine the optimal sampling point.
Optionally, the obtaining the corresponding position code based on the current optimal sampling point gray scale of each stripe bit includes:
according to the number of the optimal sampling point, extracting the gray level of the electronic subdivision data point of the corresponding number in each group of data, and comparing with the direct current quantity; if the gray level of the electronic subdivision data point corresponding to the number is larger than the direct current quantity, the group of data is considered to be corresponding to 0 code, otherwise, the group of data is considered to be corresponding to 1 code;
and arranging the 0 codes or the 1 codes corresponding to each group of data in sequence to obtain the corresponding position codes.
Optionally, determining the fine reading of the current code wheel position based on the position of the optimal sampling point of the current stripe bit in the set of data corresponding to the single stripe bit includes:
and determining the fine reading of the current code disc position according to the size of the number of the optimal sampling point relative to L and the actual width of the single stripe bit.
Optionally, the determining the dc amount of the fringe image based on the obtained sets of data includes:
based on the obtained data of each group, the gray average value of the streak image is obtained as the direct current amount of the streak image.
In a second aspect, an embodiment of the present invention further provides a high-precision photoelectric angular displacement sensor position calculating device, including:
the image acquisition module is used for acquiring at least one line of stripe image data acquired by the reader; the stripe image data are obtained by shooting a position coding pattern distributed on a code disc by the reader, the position coding pattern records position coding information by stripe bits which are of equal width and are distributed in parallel in the transverse direction, the length direction of each stripe bit is vertically arranged, and each stripe bit is provided with a stripe representation 0 code and a stripe-free representation 1 code;
the preprocessing module is used for preprocessing the acquired line stripe image data so as to reduce noise;
the electronic subdivision module is used for electronically subdividing the noise-reduced line stripe image data to the required precision;
the length determining module is used for determining the data length L corresponding to the single stripe bit based on one row of stripe image data subjected to electronic subdivision;
the data grouping module is used for grouping one row of stripe image data subjected to electronic subdivision according to the data length L corresponding to the single stripe bit to obtain a plurality of groups of data, and the length of each group of data is L;
the sampling point determining module is used for determining the optimal sampling point of the current stripe bit based on the obtained groups of data;
the coarse positioning module is used for obtaining a corresponding position code based on the gray level of the optimal sampling point of each current stripe bit and determining the rough reading of the current code disc position by combining the coding rule;
the fine positioning module is used for determining fine reading of the current code disc position based on the position of the optimal sampling point of the current stripe bit in a group of data corresponding to a single stripe bit;
and the position determining module is used for determining the specific position of the current code disc according to the rough reading and the fine reading of the current code disc position so as to determine the angular displacement.
Optionally, the length determining module determines, based on the electronically subdivided line of stripe image data, a data length L corresponding to a single stripe bit, including performing the following operations:
based on one line of stripe image data subjected to electronic subdivision, obtaining corresponding frequency domain data through Fourier transformation;
extracting the fundamental frequency of the signal according to the obtained frequency domain data;
determining the data length L corresponding to a single stripe bit based on the extracted signal fundamental frequency;
the sampling point determining module determines an optimal sampling point of a current stripe bit based on each obtained set of data, and the sampling point determining module comprises:
determining the direct current of the stripe image based on each obtained set of data;
numbering individual electronically subdivided data points in each set of data from 0 to L-1;
accumulating absolute values of the gray scales of the electronic subdivision data points with the same number in each group of data after the difference is made between the gray scales of the electronic subdivision data points and the direct current;
and taking the number with the largest sum of absolute values as the number of the optimal sampling point to determine the optimal sampling point.
In a third aspect, an embodiment of the present invention further provides an electronic device, including a memory and a processor, where the memory stores a computer program, and when the processor executes the computer program, the method described in any embodiment of the present specification is implemented.
In a fourth aspect, embodiments of the present invention also provide a computer-readable storage medium having stored thereon a computer program which, when executed in a computer, causes the computer to perform a method according to any of the embodiments of the present specification.
The embodiment of the invention provides a high-precision photoelectric angular displacement sensor position resolving method, a device, electronic equipment and a storage medium.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of a method for resolving a position of a high-precision photoelectric angular displacement sensor according to an embodiment of the present invention;
FIG. 2 illustrates a row of striped image data after electronic subdivision in one embodiment of the present invention;
FIG. 3 shows a time-domain fundamental frequency image obtained in an embodiment of the invention;
FIG. 4 is a hardware architecture diagram of an electronic device according to an embodiment of the present invention;
fig. 5 is a block diagram of a position resolver of a high-precision photoelectric angular displacement sensor according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments, and all other embodiments obtained by those skilled in the art without making any inventive effort based on the embodiments of the present invention are within the scope of protection of the present invention.
As described above, the photoelectric angular displacement sensor is composed of a reader and a cylindrical code disc, and the photoelectric angular displacement sensor reader identifies a position code in an image by imaging a coding pattern depicted on the code disc, thereby obtaining position information. The position calculation of the photoelectric angular displacement sensor is a core step of measuring angular displacement by using the photoelectric angular displacement sensor, and has direct influence on the precision, response speed and the like of the photoelectric angular displacement sensor.
The cylindrical code disc is circumferentially provided with a plurality of equal stripe positions, each stripe position may have stripes or may not have stripes, different coding patterns are represented by different combination modes of whether a section of stripe position has stripes or not, that is, each group of position codes on the code disc are represented by vertical stripes which are unevenly distributed, during identification, coarse positioning is realized according to the position codes in an image acquired by a reader, fine positioning is realized according to the edge position of the edge stripe relative to the image acquired by the reader, and therefore, the requirements on the processing precision and the identification precision of the stripes are higher. In the actual processing process, the thickness of the stripes may be unequal, which may affect the measurement accuracy, the reader shoots the stripes, errors may be introduced in the process of collecting images, and the fine positioning result is interfered, so that the measurement accuracy is limited.
In view of the above, the invention provides a method for solving the position of a code wheel based on the thought of signal processing, which only selects one row of stripe image data, treats the stripe image data as stripe signals, can more comprehensively utilize stripe edge information, has a certain correction effect on coding and describing errors, has a simple resolving mode, high processing speed and high resolving precision, and has strong universality and practicability.
Specific implementations of the above concepts are described below.
Referring to fig. 1, an embodiment of the present invention provides a method for resolving a position of a high-precision photoelectric angular displacement sensor, which includes:
step 100, obtaining at least one line of stripe image data acquired by a reader;
the stripe image data are obtained by shooting a position coding pattern distributed on a code disc by the reader, the position coding pattern records position coding information by stripe bits which are of equal width and are distributed in parallel in the transverse direction, the length direction of each stripe bit is vertically arranged, and each stripe bit is provided with a stripe representation 0 code and a stripe-free representation 1 code;
the reader can collect a plurality of lines of stripe image data (namely, obtain a two-dimensional image of the position coding pattern), and can also collect only a line of stripe image data (namely, obtain a one-dimensional image), wherein the stripe image data of a line comprises information of whether stripes exist on each stripe position in at least one group of position coding patterns;
102, preprocessing the acquired stripe image data of one line to reduce noise;
noise reduction may refer to the prior art and is not further defined herein;
104, electronically subdividing the noise-reduced line stripe image data to the required precision;
the electronic subdivision may refer to the prior art and is not described in detail herein; in one embodiment, as shown in fig. 2, a row of stripe image data after electronic subdivision is shown in an abscissa of fig. 2, where the abscissa is a data point number after electronic subdivision, and the ordinate is a gray scale amplitude;
step 106, determining the data length L corresponding to a single stripe bit based on a row of stripe image data subjected to electronic subdivision;
step 108, grouping one row of stripe image data subjected to electronic subdivision according to the data length L corresponding to the single stripe bit to obtain a plurality of groups of data, wherein the length of each group of data is L;
step 110, determining the optimal sampling point of the current stripe bit based on each obtained set of data;
step 112, obtaining a corresponding position code based on the gray level of the optimal sampling point of each current stripe bit, and determining the rough reading of the current code disc position by combining the code rule;
the position codes consist of 0 and 1, a group of position codes consisting of 0 and 1 can be determined according to the image gray level on each optimal sampling point, and the current code disc position can be solved based on the obtained position codes and a preset coding rule;
the code disc is specifically divided into a plurality of groups of position codes and specific forms of each group of position codes, the position codes can be set according to actual needs, for example, a pseudo-random code can be distributed every 1 degree to serve as the position codes, and the corresponding relation between each pseudo-random code and specific positions on the code disc is recorded by the coding rules;
step 114, determining a fine reading of the current code wheel position based on the position of the optimal sampling point of the current stripe bit in a set of data corresponding to a single stripe bit;
the current code disc position is not necessarily exactly located at the position where the position coding pattern is arranged, and possibly located between the two positions where the position coding pattern is arranged, and according to the position of the optimal sampling point of the stripe position in a group of data corresponding to a single stripe position, the specific position of the current code disc between the two position codes can be determined, which is equivalent to resolving the position relation of the stripe edge relative to the image edge;
step 116, determining the specific position of the current code wheel according to the rough reading and the fine reading of the current code wheel position, and further determining the angular displacement;
the specific position of the current code disc can be determined by adding the rough reading and the fine reading of the current code disc position.
According to the embodiment of the invention, one row of stripe image data is taken and treated as stripe signals, the data are divided by determining the data length L corresponding to a single stripe bit after electronic subdivision, each group of data corresponding to each stripe bit is obtained, the optimal sampling point is selected, the position code is calculated according to the image gray level corresponding to the optimal sampling point in each group of data, and the fine position of the current code disc is determined according to the position of the optimal sampling point in one group of data; the method has the advantages of simple resolving mode, high processing speed, high resolving precision, no need of identifying the stripe patterns and the stripe edge information by using an image processing technology, and strong universality and practicability.
Optionally, step 106 further includes:
106-0, obtaining corresponding frequency domain data through Fourier transformation based on one line of stripe image data after electronic subdivision;
step 106-2, extracting the fundamental frequency of the signal according to the frequency domain data obtained in step 106-0;
step 106-4, determining the data length L corresponding to the single stripe bit based on the signal fundamental frequency extracted in step 106-2.
In step 108 of grouping the electronically subdivided line of stripe image data, the electronically subdivided line of stripe image data may be obtained by filtering the frequency domain data obtained in step 106-0 and then performing inverse fourier transform to a time domain; in one embodiment, the time domain stripe image data obtained by inverse Fourier transform is shown in FIG. 3, the abscissa is the data point serial number after electronic subdivision, and the ordinate is the gray scale amplitude;
compared with other modes of determining the data length L corresponding to the single stripe bit, for example, the method determines the data length corresponding to the single stripe bit after subdivision according to the pixel number occupied by the single stripe width in the stripe image and the electronic subdivision multiple.
Further, step 110 includes:
110-0, determining the direct current of the stripe image based on each obtained group of data;
step 110-2, numbering individual electronic subdivision data points in each set of data from 0 to L-1;
110-4, accumulating absolute values of the gray scales of the electronic subdivision data points with the same number in each group of data after the difference is made between the gray scales of the electronic subdivision data points and the direct current; the absolute value of the difference between the image gray level of the first electronic subdivision data point in each group of data and the direct current is summed, the absolute value of the difference between the image gray level of the second electronic subdivision data point in each group of data and the direct current is summed, and so on until the absolute value of the difference between the image gray level of the last (i.e. the L-th) electronic subdivision data point in each group of data and the direct current is summed;
and 110-6, taking the number with the largest sum of absolute values as the number of the optimal sampling point, and determining the optimal sampling point.
By adopting the embodiment, the time domain optimal sampling point can be rapidly determined, the offset of the image ash of the optimal sampling point relative to the direct current is larger, and the optimal sampling point is considered as a reliable and accurate measuring point in each group of data, so that the interference of factors such as image acquisition errors and the like on the subsequent resolving position codes can be avoided.
Optionally, step 110-0 includes:
based on the obtained data of each group, the gray average value of the streak image is obtained as the direct current amount of the streak image.
The direct current amount of the fringe image can be rapidly determined by averaging. In other embodiments, the DC level of the fringe image may be determined in other ways.
Further, step 112 includes:
112-0, extracting the gray level of the electronic subdivision data point with the corresponding number in each group of data according to the number of the optimal sampling point, and comparing the gray level of the extracted electronic subdivision data point with the direct current quantity; if the gray level of the electronic subdivision data point corresponding to the number is larger than the direct current quantity, the group of data is considered to be corresponding to 0 code, otherwise, the group of data is considered to be corresponding to 1 code;
and step 112-2, arranging the 0 codes or the 1 codes corresponding to each group of data in sequence to obtain the corresponding position codes.
According to the embodiment, the position codes are calculated according to the image gray level on the optimal sampling point of each group of data, the image gray level corresponding to other data points in each group of data is not needed to be considered, the calculated amount is small, the processing process is simple, the measurement result is not affected by the fine difference of the actual stripe width, and the interference of the error of the position code pattern depiction can be avoided.
Further, step 114 includes:
and determining the fine reading of the current code disc position according to the size of the number of the optimal sampling point of the current stripe bit relative to L and combining the actual width of the single stripe bit.
The number of the optimal sampling point of the current stripe bit is relative to the size of L, the position of the optimal sampling point of the current stripe bit in a group of data corresponding to a single stripe bit is reflected, the position of the current code disc position between two position codes is reflected, the fine reading of the current code disc position can be determined by combining the actual width D of the single stripe bit, if the number of the current optimal sampling point is 0, namely the code disc position is opposite to the position code pattern, and if the number of the current optimal sampling point is n, the relative position code pattern is offset by an n/L distance. After the number of the optimal sampling point is determined, the optimal sampling point is used for determining the position code to realize coarse positioning, and the optimal sampling point is also used for realizing fine positioning, so that the position relation between the fringe edge and the image edge is not required to be calculated additionally, and the whole flow is simplified.
As shown in fig. 4 and 5, the embodiment of the invention provides a high-precision photoelectric angular displacement sensor position calculating device (simply called a calculating device). The apparatus embodiments may be implemented by software, or may be implemented by hardware or a combination of hardware and software. In terms of hardware, as shown in fig. 4, a hardware architecture diagram of an electronic device where a high-precision photoelectric angular displacement sensor position calculating device provided by an embodiment of the present invention is located, in addition to a processor, a memory, a network interface, and a nonvolatile memory shown in fig. 4, the electronic device where the device is located in the embodiment may generally include other hardware, such as a forwarding chip responsible for processing a message, and so on. For example, as shown in fig. 5, the device in a logic sense is formed by reading a corresponding computer program in a nonvolatile memory into a memory by a CPU of an electronic device where the device is located. The embodiment provides a high accuracy photoelectric angular displacement sensor position solution device, includes:
an image acquisition module 501, configured to acquire at least one line of stripe image data acquired by the reader; the stripe image data are obtained by shooting a position coding pattern distributed on a code disc by the reader, the position coding pattern records position coding information by stripe bits which are of equal width and are distributed in parallel in the transverse direction, the length direction of each stripe bit is vertically arranged, and each stripe bit is provided with a stripe representation 0 code and a stripe-free representation 1 code;
a preprocessing module 502, configured to preprocess the acquired line stripe image data to reduce noise;
an electronic subdivision module 503, configured to electronically subdivide the noise-reduced line stripe image data to a required precision;
a length determining module 504, configured to determine a data length L corresponding to a single stripe bit based on the electronically subdivided line stripe image data;
a data grouping module 505, configured to group, according to a data length L corresponding to a single stripe bit, one line of stripe image data after electronic subdivision to obtain multiple groups of data;
a sampling point determining module 506, configured to determine an optimal sampling point of the current stripe bit based on the obtained sets of data;
the coarse positioning module 507 is configured to obtain a corresponding position code based on the gray level of the optimal sampling point of each current stripe bit, and determine a coarse reading of the current code disc position by combining with a coding rule;
a fine positioning module 508, configured to determine a fine reading of the current code wheel position based on a position of an optimal sampling point of the current stripe bit in a set of data corresponding to the single stripe bit;
the position determining module 509 is configured to determine a specific position of the current code wheel according to the coarse reading and the fine reading of the current code wheel position, and further determine the angular displacement.
In an embodiment of the present invention, the image acquisition module 501 may be used to perform the step 100 in the method embodiment, the preprocessing module 502 may be used to perform the step 102 in the method embodiment, the electronic subdivision module 503 may be used to perform the step 104 in the method embodiment, the length determination module 504 may be used to perform the step 106 in the method embodiment, the data grouping module 505 may be used to perform the step 108 in the method embodiment, the sampling point determination module 506 may be used to perform the step 110 in the method embodiment, the coarse positioning module 507 may be used to perform the step 112 in the method embodiment, the fine positioning module 508 may be used to perform the step 114 in the method embodiment, and the position determination module 509 may be used to perform the step 116 in the method embodiment.
Optionally, the length determining module 504 determines, based on the electronically subdivided line of stripe image data, a data length L corresponding to a single stripe bit, including performing the following operations:
based on one line of stripe image data subjected to electronic subdivision, obtaining corresponding frequency domain data through Fourier transformation;
extracting the fundamental frequency of the signal according to the obtained frequency domain data;
determining the data length L corresponding to a single stripe bit based on the extracted signal fundamental frequency;
the sampling point determining module 506 determines, based on the obtained sets of data, an optimal sampling point of the current stripe bit, including:
determining the direct current of the stripe image based on each obtained set of data;
numbering individual electronically subdivided data points in each set of data from 0 to L-1;
accumulating absolute values of the gray scales of the electronic subdivision data points with the same number in each group of data after the difference is made between the gray scales of the electronic subdivision data points and the direct current;
and taking the number with the largest sum of absolute values as the number of the optimal sampling point to determine the optimal sampling point.
It will be appreciated that the structure illustrated in the embodiments of the present invention is not intended to be limiting in detail with respect to a high-precision photoelectric angular displacement sensor position solver. In other embodiments of the invention, a high-precision photoelectric angular displacement sensor position solver may include more or fewer components than shown, or may combine certain components, or split certain components, or a different arrangement of components. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.
The content of information interaction and execution process between the modules in the device is based on the same conception as the embodiment of the method of the present invention, and specific content can be referred to the description in the embodiment of the method of the present invention, which is not repeated here.
The embodiment of the invention also provides electronic equipment, which comprises a memory and a processor, wherein the memory stores a computer program, and the processor realizes the high-precision photoelectric angular displacement sensor position resolving method in any embodiment of the invention when executing the computer program.
The embodiment of the invention also provides a computer readable storage medium, and the computer readable storage medium stores a computer program, and the computer program when executed by a processor causes the processor to execute the high-precision photoelectric angular displacement sensor position resolving method in any embodiment of the invention.
Specifically, a system or apparatus provided with a storage medium on which a software program code realizing the functions of any of the above embodiments is stored, and a computer (or CPU or MPU) of the system or apparatus may be caused to read out and execute the program code stored in the storage medium.
In this case, the program code itself read from the storage medium may realize the functions of any of the above-described embodiments, and thus the program code and the storage medium storing the program code form part of the present invention.
Examples of the storage medium for providing the program code include a floppy disk, a hard disk, a magneto-optical disk, an optical disk (e.g., CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), a magnetic tape, a nonvolatile memory card, and a ROM. Alternatively, the program code may be downloaded from a server computer by a communication network.
Further, it should be apparent that the functions of any of the above-described embodiments may be implemented not only by executing the program code read out by the computer, but also by causing an operating system or the like operating on the computer to perform part or all of the actual operations based on the instructions of the program code.
Further, it is understood that the program code read out by the storage medium is written into a memory provided in an expansion board inserted into a computer or into a memory provided in an expansion module connected to the computer, and then a CPU or the like mounted on the expansion board or the expansion module is caused to perform part and all of actual operations based on instructions of the program code, thereby realizing the functions of any of the above embodiments.
The embodiments of the invention have at least the following beneficial effects:
compared with the method that the time domain information is used for processing the image to obtain the position information or the frequency domain information is used for processing the image, the method and the device provided by the embodiment of the invention utilize all fringe edge information in a mode of extracting fundamental frequency so as to determine the optimal time domain sampling point, comprehensively utilize the frequency domain information and the time domain information, have a certain correction effect on coding and describing errors, have the advantages of high precision, high resolution, easiness in realization and the like, and can overcome the problems of low precision, complex calculation and the like of the traditional method. In addition, the embodiment of the invention has simple and reliable resolving mode, less requirements on a processor and strong universality and practicability.
It is noted that relational terms such as first and second, and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Those of ordinary skill in the art will appreciate that: all or part of the steps for implementing the above method embodiments may be implemented by hardware related to program instructions, and the foregoing program may be stored in a computer readable storage medium, where the program, when executed, performs steps including the above method embodiments; and the aforementioned storage medium includes: various media in which program code may be stored, such as ROM, RAM, magnetic or optical disks.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. The high-precision photoelectric angular displacement sensor position resolving method is characterized by comprising the following steps of:
acquiring at least one line of stripe image data acquired by a reader; the stripe image data are obtained by shooting a position coding pattern distributed on a code disc by the reader, the position coding pattern records position coding information by stripe bits which are of equal width and are distributed in parallel in the transverse direction, the length direction of each stripe bit is vertically arranged, and each stripe bit is provided with a stripe representation 0 code and a stripe-free representation 1 code;
preprocessing the acquired line stripe image data to reduce noise;
electronically subdividing the noise-reduced line stripe image data to a required precision;
determining the data length L corresponding to a single stripe bit based on one row of stripe image data subjected to electronic subdivision;
grouping one row of stripe image data subjected to electronic subdivision according to the data length L corresponding to a single stripe bit to obtain a plurality of groups of data, wherein the length of each group of data is L;
determining the optimal sampling point of the current stripe bit based on each obtained set of data;
based on the gray level of the optimal sampling point of each current stripe bit, obtaining a corresponding position code, and determining the rough reading of the current code disc position by combining with a coding rule;
determining a fine reading of the current code wheel position based on the position of the optimal sampling point of the current stripe bit in a set of data corresponding to the single stripe bit;
and determining the specific position of the current code disc according to the rough reading and the fine reading of the current code disc position, and further determining the angular displacement.
2. The method of claim 1, wherein the step of determining the position of the substrate comprises,
the determining the data length L corresponding to a single stripe bit based on the electronically subdivided line stripe image data includes:
based on one line of stripe image data subjected to electronic subdivision, obtaining corresponding frequency domain data through Fourier transformation;
extracting the fundamental frequency of the signal according to the obtained frequency domain data;
based on the extracted fundamental frequency of the signal, the data length L corresponding to the single stripe bit is determined.
3. The method of claim 2, wherein the step of determining the position of the substrate comprises,
the determining the optimal sampling point of the current stripe bit based on the obtained data sets comprises the following steps:
determining the direct current of the stripe image based on each obtained set of data;
numbering individual electronically subdivided data points in each set of data from 0 to L-1;
accumulating absolute values of the gray scales of the electronic subdivision data points with the same number in each group of data after the difference is made between the gray scales of the electronic subdivision data points and the direct current;
and taking the number with the largest sum of absolute values as the number of the optimal sampling point to determine the optimal sampling point.
4. The method of claim 3, wherein the step of,
the obtaining of the corresponding position code based on the gray level of the optimal sampling point of each current stripe bit comprises the following steps:
according to the number of the optimal sampling point, extracting the gray level of the electronic subdivision data point of the corresponding number in each group of data, and comparing with the direct current quantity; if the gray level of the electronic subdivision data point corresponding to the number is larger than the direct current quantity, the group of data is considered to be corresponding to 0 code, otherwise, the group of data is considered to be corresponding to 1 code;
and arranging the 0 codes or the 1 codes corresponding to each group of data in sequence to obtain the corresponding position codes.
5. The method of claim 4, wherein the step of determining the position of the first electrode is performed,
the determining the fine reading of the current code wheel position based on the position of the optimal sampling point of the current stripe bit in a group of data corresponding to a single stripe bit comprises:
and determining the fine reading of the current code disc position according to the size of the number of the optimal sampling point relative to L and the actual width of the single stripe bit.
6. The method of claim 1, wherein the step of determining the position of the substrate comprises,
the determining the direct current amount of the stripe image based on the obtained data sets comprises the following steps:
based on the obtained data of each group, the gray average value of the streak image is obtained as the direct current amount of the streak image.
7. A high-precision photoelectric angular displacement sensor position calculating device, comprising:
the image acquisition module is used for acquiring at least one line of stripe image data acquired by the reader; the stripe image data are obtained by shooting a position coding pattern distributed on a code disc by the reader, the position coding pattern records position coding information by stripe bits which are of equal width and are distributed in parallel in the transverse direction, the length direction of each stripe bit is vertically arranged, and each stripe bit is provided with a stripe representation 0 code and a stripe-free representation 1 code;
the preprocessing module is used for preprocessing the acquired line stripe image data so as to reduce noise;
the electronic subdivision module is used for electronically subdividing the noise-reduced line stripe image data to the required precision;
the length determining module is used for determining the data length L corresponding to the single stripe bit based on one row of stripe image data subjected to electronic subdivision;
the data grouping module is used for grouping one row of stripe image data subjected to electronic subdivision according to the data length L corresponding to the single stripe bit to obtain a plurality of groups of data, and the length of each group of data is L;
the sampling point determining module is used for determining the optimal sampling point of the current stripe bit based on the obtained groups of data;
the coarse positioning module is used for obtaining a corresponding position code based on the gray level of the optimal sampling point of each current stripe bit and determining the rough reading of the current code disc position by combining the coding rule;
the fine positioning module is used for determining fine reading of the current code disc position based on the position of the optimal sampling point of the current stripe bit in a group of data corresponding to a single stripe bit;
and the position determining module is used for determining the specific position of the current code disc according to the rough reading and the fine reading of the current code disc position so as to determine the angular displacement.
8. The apparatus of claim 7, wherein the device comprises a plurality of sensors,
the length determining module determines a data length L corresponding to a single stripe bit based on one line of stripe image data after electronic subdivision, and includes the following operations:
based on one line of stripe image data subjected to electronic subdivision, obtaining corresponding frequency domain data through Fourier transformation;
extracting the fundamental frequency of the signal according to the obtained frequency domain data;
determining the data length L corresponding to a single stripe bit based on the extracted signal fundamental frequency;
the sampling point determining module determines an optimal sampling point of a current stripe bit based on each obtained set of data, and the sampling point determining module comprises:
determining the direct current of the stripe image based on each obtained set of data;
numbering individual electronically subdivided data points in each set of data from 0 to L-1;
accumulating absolute values of the gray scales of the electronic subdivision data points with the same number in each group of data after the difference is made between the gray scales of the electronic subdivision data points and the direct current;
and taking the number with the largest sum of absolute values as the number of the optimal sampling point to determine the optimal sampling point.
9. An electronic device comprising a memory and a processor, the memory having stored therein a computer program, characterized in that the processor, when executing the computer program, implements the method according to any of claims 1-6.
10. A storage medium having stored thereon a computer program, which, when executed in a computer, causes the computer to perform the method of any of claims 1-6.
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