CN117451084A - Code wheel and optical coding device - Google Patents
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- CN117451084A CN117451084A CN202311787296.1A CN202311787296A CN117451084A CN 117451084 A CN117451084 A CN 117451084A CN 202311787296 A CN202311787296 A CN 202311787296A CN 117451084 A CN117451084 A CN 117451084A
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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
- G01D5/34707—Scales; Discs, e.g. fixation, fabrication, compensation
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- G—PHYSICS
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- 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
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Abstract
The application discloses a code wheel and optical coding equipment, wherein the code wheel comprises a main body and a plurality of light-transmitting parts arranged on the main body; the light-transmitting parts are annularly arranged at intervals on the main body, the intervals between the adjacent light-transmitting parts are equal, each light-transmitting part is regularly arranged along the circumferential direction, so that the distribution rule of luminous flux of each light-transmitting part is different along the first circumferential direction and the second circumferential direction, and the first circumferential direction is opposite to the second circumferential direction. The rotation direction of the code wheel can be identified.
Description
Technical Field
The application relates to the field of motor control, in particular to a code wheel and optical coding equipment.
Background
In the field of robotics, accurate positioning and navigation is critical. To achieve this object, many robots are equipped with encoders or code plates on their drive motors, which are devices that measure the rotation angle of the motors. In a conventional code wheel, the code wheel emits a certain number of pulse signals when the motor rotates, each pulse signal corresponding to a certain distance. The controller can calculate the moving distance of the robot through the pulse signals.
However, the conventional code wheel can only detect the number of rotations, but cannot detect the rotation direction. If the robot suddenly changes direction of travel for some reason, it will still continue to send the original pulse signal because the code wheel itself cannot determine the direction. For example, if the robot is moving forward, but suddenly receives a command to move backward, the code wheel still transmits the original pulse signal because the inertial robot may still move forward a certain distance, and the controller recognizes the received pulse signal as backward, which may cause the controller to generate an error in calculating the moving distance of the robot.
Disclosure of Invention
An object of the present application is to provide a code wheel and an optical encoding apparatus, which can identify the rotation direction of the code wheel.
In order to achieve the above object, an aspect of the present application provides a code wheel, which includes a main body, and a plurality of light-transmitting portions disposed on the main body; the light-transmitting parts are annularly arranged at intervals on the main body, the intervals between the adjacent light-transmitting parts are equal, each light-transmitting part is regularly arranged along the circumferential direction, so that the distribution rule of luminous flux of each light-transmitting part is different along the first circumferential direction and the second circumferential direction, and the first circumferential direction is opposite to the second circumferential direction.
To achieve the above object, another aspect of the present application further provides an optical encoding apparatus including the code wheel as described above; the driver is connected with the main body and used for driving the main body to rotate; the light detection unit comprises a light emitter and a light receiver which are respectively positioned at two sides of the main body, and is used for detecting the luminous flux of the light transmission part when the main body rotates; and a controller connected to the light detection unit and the driver, for judging a rotation direction of the main body according to luminous fluxes of the respective light transmitting portions.
Therefore, the technical scheme is applied to the optical coding equipment comprising the code disc, the driver, the light emitter, the light receiver and the controller, wherein a plurality of light transmission parts are distributed on the code disc in an equidistant annular array, the light emitter emits light to the code disc, and the light receiver receives the light projected from the light transmission parts. Since the distribution rule of the luminous flux of each light transmitting part is different along the first circumferential direction from that along the second circumferential direction, when the driver drives the main body of the code wheel to rotate, the light intensity received by the light receiver has obvious change characteristics in different rotation directions. Based on the obvious change characteristics, the optical receiver can generate an electric signal corresponding to the light intensity, so that the controller can accurately identify the rotation direction and possible damage condition of the code disc according to the electric signal. The high-precision detection of the rotation direction and the speed of the code wheel is realized by utilizing the synergistic effect among the code wheel, the light emitter and the light receiver, and meanwhile, the conditions of whether the code wheel rotates reversely or is damaged and the like can be effectively identified.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a conventional code wheel;
FIG. 2 is a schematic diagram of a code wheel in one embodiment provided herein;
FIG. 3 is a schematic diagram of a code wheel in another embodiment provided herein;
FIG. 4 is a schematic diagram of a code wheel in another embodiment provided herein;
FIG. 5 is a schematic diagram of a broken code disc in an embodiment provided herein;
fig. 6 is a flowchart of the encoded information processing method provided in the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the embodiments of the present application will be described in further detail below with reference to the accompanying drawings. Terms such as "upper," "lower," "first end," "second end," "one end," "the other end," and the like as used herein to refer to a spatially relative position are used for ease of description to describe one element or feature's relationship to another element or feature as illustrated in the figures. The term spatially relative position may be intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" the other elements or features. Thus, the exemplary term "below" can encompass both an orientation of above and below. The device may be otherwise oriented (rotated 90 degrees or other orientations) and the spatially relative descriptors used herein interpreted accordingly.
Furthermore, the terms "mounted," "disposed," "provided," "connected," "slidingly connected," "secured," and "sleeved" are to be construed broadly. For example, "connected" may be in a fixed connection, a removable connection, or a unitary construction; may be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements, or components. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.
In the field of robotics, accurate positioning and navigation is critical. To achieve this object, many robots are equipped with encoders or code plates on their drive motors, which are devices that measure the rotation angle of the motors. In a conventional code wheel, the code wheel emits a certain number of pulse signals when the motor rotates, each pulse signal corresponding to a certain distance. The controller can calculate the moving distance of the robot through the pulse signals.
As shown in fig. 1, a conventional code wheel is a device for detecting a rotational position by a photoelectric effect. The light-shielding device consists of a light-transmitting opening a and a corresponding light-shielding opening b, wherein the light-transmitting opening a and the light-shielding opening b alternately appear every time the coded disc rotates one circle, so that a pulse signal is generated. The code wheel rotates continuously, which can generate pulse signals continuously, and the pulse signals can be used for evaluating the rotation number of the motor. However, the pulse signals generated by the conventional code disc are identical regardless of the forward rotation or the reverse rotation of the code disc, so that the controller can only recognize the number of rotations of the code disc based on the pulse signals, and cannot detect the rotation direction of the code disc.
If the robot suddenly changes direction for some reason (e.g., receives a command or encounters an obstacle), it will still continue to send the original pulse signal because the code wheel itself cannot determine the direction. The controller may erroneously evaluate the position and direction of the robot based on the pulse signals, thereby generating an erroneous control command or navigation strategy.
For example, if the robot is moving forward, but suddenly receives a command to move backward, the code wheel still transmits the original pulse signal because the inertial robot may still move forward a certain distance, and the controller recognizes the received pulse signal as backward and erroneously considers that the robot is backward. This may cause errors in the controller in calculating the moving distance of the robot, and the controller may record the position of the robot at the wrong position. If the robot is performing a task that requires accurate navigation (e.g., positioning a sweep, cutting, assembly, or probing, etc.), such misjudgment may lead to errors in the operation of the robot, which may cause damage to personnel or equipment.
Therefore, how to improve the structure of the code wheel, so as to more accurately detect the rotation direction of the code wheel, is a problem to be solved in the art.
In view of the above, the present application provides an optical encoding apparatus including a code wheel 1, a driver (not shown), a light detection unit (not shown), and a controller (not shown).
Referring to fig. 2 to 4, the code wheel 1 includes a main body 10 and a plurality of light transmitting portions 11 disposed on the main body 10. The light-transmitting portions 11 are arranged on the main body 10 at annular intervals, and the distances between the adjacent light-transmitting portions 11 are equal, that is, the light-transmitting portions 11 are distributed on the main body 10 in an equidistant annular array. In other words, the plurality of light transmitting portions 11 are arranged in a circular shape on the main body 10, and the respective light transmitting portions 11 are uniformly distributed around the center of the circular array at equal angles. By uniformly distributing the above-described plurality of light-transmitting portions 11 in an annular array, it is possible to ensure that the distribution of the respective light-transmitting portions 11 on the main body 10 is balanced and symmetrical.
Further, along the circumferential direction of the above-mentioned circular arrangement, each light-transmitting portion 11 is regularly arranged, so that the distribution of the luminous flux of each light-transmitting portion 11 is regularly different along the first circumferential direction and along the second circumferential direction, wherein the first circumferential direction is opposite to the second circumferential direction. For example, when the first circumferential direction is a clockwise direction, the second circumferential direction is a counterclockwise direction, and when the first circumferential direction is a counterclockwise direction, the second circumferential direction is a clockwise direction.
It should be noted that the shape of the main body 10 is not limited in this application, and it may be configured as a circle, an ellipse, a rectangle, a triangle, or the like, as long as the above-described plurality of light transmitting portions 11 are ensured to be distributed on the main body 10 in an equally-spaced annular array.
The driver is connected with the main body 10 for driving the main body 10 to rotate. In practical application, a mounting hole (not shown) is provided at the center of the main body 10, and a rotation shaft of the driver may be inserted into the mounting hole, so that the main body 10 may be rotated synchronously with the rotation shaft.
In the present embodiment, the main body 10 has a first surface and a second surface, wherein the first surface and the second surface are disposed opposite to each other. The light emitter and the light receiver in the light detection unit are respectively disposed at both sides of the main body 10. In practical applications, the light emitter may be fabricated using a semiconductor laser, a Light Emitting Diode (LED), a fiber laser, or the like, which may generate light. The light receiver has an optical detection area that can generate a voltage level signal when the light is received or detected by the optical detection area. In this embodiment, the light outlet of the light emitter may be disposed toward the first surface of the code wheel 1 so as to emit the generated light to the code wheel 1. When the light reaches the code wheel 1, the light can pass through the light transmitting portion 11. Further, an optical detection area of the optical receiver may be disposed toward the second surface of the code wheel 1, which may receive the light projected from the light-transmitting portion 11 and generate a corresponding electrical signal according to the intensity of the received light (i.e., the amount of light passing through a unit area per unit time). With the above principle, when the main body 10 is rotated, the light detecting unit can detect the luminous flux of each light transmitting portion 11.
In the present embodiment, a controller is connected to the light detection unit and the driver, and the controller can determine the rotation direction of the main body 10 based on the luminous flux of each light transmitting portion 11. Further, the controller may acquire a distribution rule in the first circumferential direction or the second circumferential direction according to the luminous flux of each light transmitting portion 11, thereby judging whether the rotation direction of the main body 10 is changed. Thus, the controller can accurately recognize the rotation direction of the rotation shaft of the driver based on the rotation direction of the main body 10, and further accurately calculate the movement distance of the robot, and generate a correct control command or navigation strategy.
The structure of the code wheel will be described in detail.
For convenience of description, any two adjacent light-transmitting portions 11 are respectively designated as a first light-transmitting portion 111 and a second light-transmitting portion 112, the light intensity of the light beam passing through the first light-transmitting portion 111 and then irradiating the optical detection area of the light receiver is designated as K1, and the light intensity of the light beam passing through the second light-transmitting portion 112 and then irradiating the optical detection area of the light receiver is designated as K2. Since the first light transmitting portion 111 and the second light transmitting portion 112 have different luminous fluxes, the value of K1 will be different from the value of K2 in the case where the light generated by the light emitter is stable. Accordingly, the optical detection area of the optical receiver will also differ in the electrical signal generated based on the light intensity.
In practical application, by specially designing the optical detection area of the optical receiver, the optical detection area can output different voltage level signals when detecting different light intensities. For example, when the light intensity detected by the optical detection area is K1, the light receiver may generate a first voltage level signal, and when the light intensity detected by the optical detection area is K2, the light receiver may generate a second voltage level signal, the first voltage level signal being different from the second voltage level signal, in particular, the first voltage level signal may be greater than or less than the second voltage level signal. Further, the optical receiver may transmit the first voltage level signal and the second voltage level signal to the controller, and the controller may identify the rotation direction of the code wheel 1 according to the receiving sequence of the first voltage level signal and the second voltage level signal.
For example, assuming that when the code wheel 1 rotates clockwise, the light first passes through the second light-transmitting portion 112 and then passes through the first light-transmitting portion 111, the light receiver will first generate the second voltage level signal and then generate the first voltage level signal, and correspondingly, the controller will first receive the second voltage level signal and then receive the first voltage level signal. Based on the above premise, if the controller receives the first voltage level signal first and then receives the second voltage level signal under a certain scenario, the controller may determine that the code wheel 1 has rotated counterclockwise.
Since the distribution rule of the luminous flux of each light transmitting portion 11 is different in the first circumferential direction from that in the second circumferential direction, the light intensity projected on the optical detection area is also changed with the rotation of the main body 10, and accordingly, the electric signal generated by the light receiver is also changed. The controller can recognize the rotation direction of the main body 10 by the reception sequence of the respective electric signals.
In one possible embodiment, the body 10 may be a disk-like disk, which may be made of metal or a light-impermeable resin material. Further, openings or grooves may be provided in the code wheel 1 to form the light-transmitting portions 11, and the structure of each opening or groove is specially designed so that each light-transmitting portion 11 has a different luminous flux in the first circumferential direction than in the second circumferential direction. For ease of fabrication, the aperture may be configured as a circle and the slot may be configured as a rectangle. The openings or slots penetrate from the first surface of the code wheel 1 to the second surface of the code wheel 1 and are arranged adjacent to the edges of the code wheel 1. Of course, in another embodiment, the light-transmitting portion 11 may be formed directly on the main body 10 without providing an opening or a slot in the main body 10. For example, a pattern with alternately bright and dark portions may be printed on a light-transmitting resin plate/glass plate to form the light-transmitting portion 11.
With reference to the view angle shown in fig. 2, a clockwise direction of the main body 10 is defined. To achieve different luminous fluxes for each light-transmitting portion 11 in the first circumferential direction and in the second circumferential direction, in one achievable embodiment, each light-transmitting portion 11 has a different light-transmitting area in the clockwise direction of the main body 10, and the value of the light-transmitting area of each light-transmitting portion 11 satisfies a preset rule. For example, as shown in fig. 2 and 4, a technician may open holes with different areas on the main body 10, or open grooves with different widths/lengths on the main body 10, so that the respective light-transmitting portions 11 have different light-transmitting areas. Meanwhile, the technician can arrange the light-transmitting areas of the light-transmitting portions 11 on the code wheel 1 according to a certain rule, thereby ensuring that the values of the light-transmitting areas of the light-transmitting portions 11 meet a preset rule. Thus, when the main body 10 rotates, the light intensity projected on the optical detection area will generate a periodic variation corresponding to the preset rule, and the electric signal generated by the corresponding light receiver will also generate a periodic variation, so that the sequence of the electric signal reaching the controller will also generate a periodic variation. Based on the above-described periodic variation, when the periodic variation is changed, the controller can determine whether the rotation direction of the code wheel 1 is changed.
Regarding what preset rules the value of the light-transmitting area satisfies, the present application provides the following rules for reference.
Example 1
In the present embodiment, the values of the light transmitting areas of the respective light transmitting portions 11 sequentially increase in the clockwise direction of the main body 10. Specifically, as shown in fig. 2, the technician may provide slots of equal intervals, but unequal lengths, on the main body 10, and the lengths of the slots gradually increase in the clockwise direction of the main body 10. When the main body 10 rotates clockwise, the light transmission amount is sequentially reduced, the light intensity detected by the corresponding optical detection area is sequentially reduced, and the electric signal generated by the light receiver is decreased; when the main body 10 rotates counterclockwise, the light transmission amount sequentially increases, the light intensity detected by the corresponding optical detection area sequentially increases, and the electric signal generated by the light receiver increases. The controller can determine the direction of rotation of the body 10 by detecting whether the electrical signal is increasing or decreasing.
It should be noted that, if the technician designs the light transmitting portion 11 as: the length of the slot gradually decreases in the clockwise direction of the main body 10, so that the electric signal generated by the optical receiver increases when the code wheel 1 rotates clockwise, and decreases when the main body 10 rotates counterclockwise. Therefore, the controller needs to refer to the arrangement rule of the light transmitting portions 11 when judging the rotation direction of the main body 10.
Example two
In the present embodiment, the plurality of light transmitting portions 11 have a first light transmitting area S1 and a second light transmitting area S2, and the value of the first light transmitting area S1 is different from the value of the second light transmitting area S2. The light transmitting portions 11 having the first light transmitting area S1 and the light transmitting portions 11 having the second light transmitting area S2 are alternately arranged on the main body 10. Specifically, as shown in fig. 3, the first light-transmitting portion 111 has a first light-transmitting area S1, the second light-transmitting portion 112 has a second light-transmitting area S2, the third light-transmitting portion 113 has a first light-transmitting area S1, the fourth light-transmitting portion 114 has a second light-transmitting area S2, and so on.
Assuming that the logic value of the voltage level signal generated by the light receiver is "0" after the light is projected to the optical detection area through the first light-transmitting area S1, and the logic value of the voltage level signal generated by the light receiver is "1" after the light is projected to the optical detection area through the second light-transmitting area S2, with reference to the viewing angle shown in fig. 3, when the main body 10 rotates clockwise, the electric signal generated by the light receiver is "01010101010", and if the main body 10 suddenly switches from clockwise rotation to counterclockwise rotation, the electric signal generated by the light receiver will be "01010101010010101010..the term ", or" 0101010101011010101..the term "(below). The scribing part is the main body 10 hairTime of the raw inversion). The controller can determine whether the rotation direction of the main body 10 has been changed by recognizing the electric signal transmitted from the light receiver.
Example III
In the present embodiment, the plurality of light transmitting portions 11 have a first light transmitting area S1, a second light transmitting area S2 to an nth light transmitting area Sn, wherein S1 < S2 < Sn, n is equal to or less than 3, and n is equal to or less than the number of light transmitting portions 11. The light transmitting portion 11 having the first light transmitting area S1, the light transmitting portion 11 having the second light transmitting area S2, the light transmitting portion 11 having the n-th light transmitting area Sn is distributed on the main body 10 in an equally-spaced annular array with S1, S2, and Sn as a cycle.
This embodiment is a further extension of embodiment two. For convenience of description, let n=4, the logic value of the voltage level signal generated by the light receiver is "0" after the light is projected to the optical detection area through the first light transmission area S1, the logic value of the voltage level signal generated by the light receiver is "1" after the light is projected to the optical detection area through the second light transmission area S2, the logic value of the voltage level signal generated by the light receiver is "2" after the light is projected to the optical detection area through the third light transmission area S3, and the logic value of the voltage level signal generated by the light receiver is "3" after the light is projected to the optical detection area through the fourth light transmission area S4. Then the electrical signal generated by the optical receiver is "012301230123" when the body 10 is rotated clockwise, and "012301230123" if the body 10 is suddenly switched from clockwise to counterclockwise210321032103 and "or" 012301230123"32103210. (underlined is the moment at which the body 10 is inverted). The controller can determine whether the rotation direction of the main body 10 has been changed by recognizing the electric signal transmitted from the light receiver.
It should be noted that, in the present embodiment, the light transmitting portions 11 having the first light transmitting area S1, the light transmitting portions 11 having the second light transmitting area S2, the light transmitting portions 11 having the nth light transmitting area Sn may be distributed on the main body 10 in an equally-spaced annular array according to other cyclic rules. For convenience of description, I amStill assuming that n=4, one circulation section includes 5 light-transmitting portions 11, and the 5 light-transmitting portions 11 are distributed on the main body 10 according to the arrangement rule of S1, S2, S3, S4. Then the electrical signal generated by the optical receiver is "011230112301123" when the body 10 is rotated clockwise, and 01123011230112 if the body 10 is suddenly switched from clockwise to counter-clockwise110321103 and 011230112301122110321103. The moment at which the body 10 is inverted). The controller can determine whether the rotation direction of the main body 10 has been changed by recognizing the electric signal transmitted from the light receiver.
It should be noted that the above embodiment is only for explaining and explaining the arrangement rule of the light transmitting portions 11, and is not intended to limit the arrangement rule thereof. The embodiments described herein are only some, but not all, of the embodiments of the present application. All other embodiments, based on the embodiments herein, which would be apparent to one of ordinary skill in the art without making any inventive effort, are intended to be within the scope of the present application.
To achieve different luminous fluxes in the first circumferential direction and in the second circumferential direction, each light-transmitting portion 11 has a different luminous flux, and in another achievable embodiment, each light-transmitting portion 11 is provided with a filter therein in the clockwise direction of the main body 10, and each filter has a specified light blocking rate. Thus, when the optical filter is mounted on the open hole or the slot, each open hole or slot has different shielding effect on light, and correspondingly, each open hole or slot has different luminous flux.
Further, based on the light blocking rate of the filters mounted on the respective light transmitting portions 11, the respective light transmitting portions 11 may be arranged on the code wheel 1 in a regular manner such that the luminous flux of the respective light transmitting portions 11 satisfies a predetermined propagation rule in the clockwise direction. Thus, when the main body 10 rotates, the light intensity projected on the optical detection area will generate a periodic variation corresponding to the predetermined propagation rule, and the electric signal generated by the corresponding optical receiver will also generate a periodic variation, so that the sequence in which the electric signal reaches the controller will also generate a periodic variation. Based on the above-described periodic variation, when the periodic variation is changed, the controller can determine whether the rotation direction of the main body 10 is changed.
Alternatively, the light blocking rate of each filter sequentially increases in the clockwise direction of the body 10.
In one possible embodiment, referring to fig. 6, the controller may determine whether the rotation direction of the body 10 is changed by the following method.
S101: and acquiring an electric signal generated by the optical receiver, wherein the electric signal contains voltage level information.
In the present embodiment, the optical transmitter and the optical receiver are provided on both sides of the main body 10, respectively. The light emitters may be fabricated using semiconductor lasers, light Emitting Diodes (LEDs), fiber lasers, or the like, which may produce light. The light outlet of the light emitter may be disposed toward one side surface of the body 10 so as to emit the generated light to the body 10. The light receiver has an optical detection area, which may be disposed toward the other side surface of the main body 10, may receive the light projected from the light transmitting portion 11, and generate a corresponding electrical signal according to the intensity of the received light.
When the light receiver generates a corresponding electric signal according to the intensity of the received light, the light receiver can send the electric signal to the controller, so that the controller can acquire the electric signal generated by the light receiver. In practical applications, the optical detection area may output different voltage level signals when detecting different light intensities, and the optical receiver may directly send the voltage level signals to the controller through the circuit. Of course, the optical receiver may also send an electrical signal containing the voltage level information to the controller in the form of a message by wireless transmission.
S102: converting the voltage level information into coding information and acquiring a circulation rule of the coding information.
In this embodiment, when the controller receives the electrical signal, the controller may process the electrical signal to obtain voltage level information contained therein, and convert the voltage level information into encoded information. For example, the controller may assign different logic values to different voltage level information, thereby converting the voltage level information to encoded information in a form similar to "012301230123".
In practical applications, the main body 10 generally rotates synchronously with the driver, so the electrical signal generated by the optical receiver is generally a signal with a constant period, and the signal includes a certain cycle rule. Based on the above premise, the controller may further analyze the encoded information after converting the voltage level information into the encoded information, so as to extract a circulation rule included in the encoded information, so as to determine the working state of the main body 10 by using the circulation rule in a later period.
In one implementation manner, the controller may take the time when the electric signal is initially received as the initial time, intercept the electric signal within a certain period of time and convert the electric signal into the encoded information, and extract the circulation rule included in the encoded information by using the statistical rule.
S103: judging whether a mutation signal exists in the coding information according to a circulation rule, and if so, generating indication information for representing reverse rotation or damage of the code disc according to a preset identification rule; if the normal rotation of the code disc does not exist, indicating information representing the normal rotation of the code disc is generated.
In this embodiment, after the controller extracts the cyclic rule included in the encoded information, the controller may compare all the encoded information that has been received currently with the cyclic rule to determine whether there is a sudden change signal in the encoded information. Specifically, the controller may determine whether a signal that does not conform to the cyclic rule arrangement exists in the encoded information, and if a signal that does not conform to the cyclic rule arrangement exists in the encoded information, the controller may confirm that the signal is a sudden change signal.
For example, when the controller extracts the "0123 loop" of the loop rule contained in the encoded information based on "012301230123", then for "0123012301230123012321032', thisThe controller can confirm that "2" at the underline is a sudden change signal.
When the controller judges that the abrupt change signal exists in the encoded information, the controller can consider that the rotation direction of the main body 10 is changed or the main body 10 is damaged, and can further generate indication information representing reverse rotation or damage of the main body 10 according to a preset identification rule. If the controller determines that no abrupt change signal exists in the encoded information, indicating that the body 10 is rotating normally all the time, the controller may generate indication information indicating that the body 10 is rotating normally.
It should be noted that the forward rotation in this application may be either clockwise or counterclockwise. The reverse rotation is opposite to the forward rotation, for example, when the forward rotation is clockwise, the reverse rotation is counterclockwise.
In one implementation, the controller may analyze all currently received encoded information, and if the controller recognizes that the encoded information is formed of two or more different cyclic segments, and the cyclic segments alternate in a certain order, the controller may recognize that the main body 10 is reversed, and the time corresponding to the abrupt change signal is the time when the main body 10 is rotated in the reverse direction, the controller may generate indication information indicating that the main body 10 is rotated in the reverse direction. For example, assume that all encoded information currently received by the controller is "01010101010010101010", the controller analyzes the encoded information, and the encoded information is obtained by removing the abrupt signal, and then is composed of" 01 cycle "and" 10 cycle ", and the cycle sections alternately appear in a certain order, so that the controller can consider that the main body 10 is inverted, and the corresponding time at the underlined position is the time when the main body 10 is inverted.
In one embodiment, if the controller recognizes that the coded information repeatedly has abrupt change signals at specific arrangement positions, indicating that the main body 10 is damaged, the controller may generate indication information indicating that the main body 10 is damaged. For example, assume that the controller is currentlyAll the code information received is' 0123012302301230123023", the controller analyzes the encoded information, and it can recognize that" 2 "at the underline is a sudden change signal, and then recognizes that" 023 "repeatedly appears in the encoded information after two" 0123 "cycles, so the controller can consider that a signal is lost between" 023 ". As shown in fig. 5, this may be due to the light transmitting portion 110 being damaged or being blocked by dirt, so the controller may generate indication information indicating that the main body 10 is damaged.
Based on the same conception, the application also provides a code wheel. The code wheel 1 includes a main body 10 and a plurality of light transmitting portions 11 provided on the main body 10. The light-transmitting portions 11 are arranged on the main body 10 at annular intervals, and the distances between the adjacent light-transmitting portions 11 are equal, that is, the light-transmitting portions 11 are distributed on the main body 10 in an equidistant annular array. In other words, the plurality of light transmitting portions 11 are arranged in a circular shape on the main body 10, and the respective light transmitting portions 11 are uniformly distributed around the center of the circular array at equal angles. By uniformly distributing the above-described plurality of light-transmitting portions 11 in an annular array, it is possible to ensure that the distribution of the respective light-transmitting portions 11 on the main body 10 is balanced and symmetrical.
Further, along the circumferential direction of the above-mentioned circular arrangement, each light-transmitting portion 11 is regularly arranged, so that the distribution of the luminous flux of each light-transmitting portion 11 is regularly different along the first circumferential direction and along the second circumferential direction, wherein the first circumferential direction is opposite to the second circumferential direction. For example, when the first circumferential direction is a clockwise direction, the second circumferential direction is a counterclockwise direction, and when the first circumferential direction is a counterclockwise direction, the second circumferential direction is a clockwise direction.
In one possible embodiment, the body 10 may be a disk-like disk, which may be made of metal or a light-impermeable resin material. Further, openings or grooves may be provided in the code wheel 1 to form the light-transmitting portions 11, and the structure of each opening or groove is specially designed so that each light-transmitting portion 11 has a different luminous flux in the first circumferential direction than in the second circumferential direction. For ease of fabrication, the aperture may be configured as a circle and the slot may be configured as a rectangle. The openings or slots penetrate from the first surface of the code wheel 1 to the second surface of the code wheel 1 and are arranged adjacent to the edges of the code wheel 1. Of course, in another embodiment, the light-transmitting portion 11 may be formed directly on the main body 10 without providing an opening or a slot in the main body 10. For example, a pattern with alternately bright and dark portions may be printed on a light-transmitting resin plate/glass plate to form the light-transmitting portion 11.
As for the specific structure of the light transmitting portion 11, reference may be made to the content in the foregoing embodiment, and a detailed description thereof will be omitted.
The working principle of the code disc is described in detail below in connection with a specific application scenario.
Application scenario one (taking sweeping robot as an example)
The user A purchases a sweeping robot, and the sweeping robot can construct an environment map by utilizing devices such as a laser sensor, a visual sensor and the like, and can determine the position of the user A in the environment map in real time by combining the motion state of the user A.
After the user A starts the sweeping robot, the sweeping robot firstly cleans the house according to a pre-planned sweeping path. When the sweeping robot works for a period of time, the sweeping robot detects that the cleaning liquid in the cleaning liquid tank is located at the lower limit of the liquid level, and therefore a controller in the sweeping robot gives a backward instruction to a driving system so that the cleaning liquid returns to the base station.
When the driving system receives the backward instruction, the sweeping robot moves forwards originally, so that the sweeping robot still moves forwards for a certain distance under the action of inertia, and the motor cannot rotate reversely immediately. And the driving motor starts to drive the sweeping robot to retreat until the sweeping robot stops moving, and at the moment, the driving motor starts to reversely rotate. Because the code wheel rotates synchronously with the driving motor, and different electric signals are generated when the code wheel rotates in the forward direction and rotates in the reverse direction, the controller identifies the accurate moment when the motor rotates reversely based on the received electric signals. Then, the controller accurately calculates the moving distance of the sweeping robot according to the number of rotation turns of the code wheel.
Therefore, the technical scheme is applied to the optical coding equipment comprising the code disc, the driver, the light emitter, the light receiver and the controller, wherein a plurality of light transmission parts are distributed on the code disc in an equidistant annular array, the light emitter emits light to the code disc, and the light receiver receives the light projected from the light transmission parts. Since the distribution rule of the luminous flux of each light transmitting part is different along the first circumferential direction from that along the second circumferential direction, when the driver drives the main body of the code wheel to rotate, the light intensity received by the light receiver has obvious change characteristics in different rotation directions. Based on the obvious change characteristics, the optical receiver can generate an electric signal corresponding to the light intensity, so that the controller can accurately identify the rotation direction and possible damage condition of the code disc according to the electric signal. The high-precision detection of the rotation direction and the speed of the code wheel is realized by utilizing the synergistic effect among the code wheel, the light emitter and the light receiver, and meanwhile, the conditions of whether the code wheel rotates reversely or is damaged and the like can be effectively identified.
The foregoing description of the preferred embodiments of the present application is not intended to limit the invention to the particular embodiments of the present application, but to limit the scope of the invention to the particular embodiments of the present application.
Claims (13)
1. A code wheel, characterized in that the code wheel comprises a main body and a plurality of light-transmitting parts arranged on the main body;
the light-transmitting parts are annularly arranged at intervals on the main body, the intervals between the adjacent light-transmitting parts are equal, each light-transmitting part is regularly arranged along the circumferential direction, the distribution rule of the luminous flux of each light-transmitting part is different from that of the light-transmitting part along the first circumferential direction and the second circumferential direction, and whether the rotation direction of the code disc is changed or damaged is identified based on whether the distribution rule of the luminous flux changes when the code disc rotates or not, wherein the first circumferential direction is opposite to the second circumferential direction.
2. The code wheel of claim 1, wherein the body is of the disc type and the light-transmitting portion is an aperture or slot, the aperture or slot being disposed adjacent an edge of the body.
3. The code wheel of claim 2, wherein the body has a clockwise direction along which light-transmitting areas of the plurality of light-transmitting portions are different, and values of the light-transmitting areas of the plurality of light-transmitting portions satisfy a preset rule.
4. A code wheel according to claim 3, wherein the values of the light-transmitting areas of the plurality of light-transmitting portions increase in sequence in the clockwise direction.
5. The code wheel of claim 3, wherein the plurality of light transmitting portions have a first light transmitting area S1 and a second light transmitting area S2, and wherein a value of the first light transmitting area S1 is different from a value of the second light transmitting area S2.
6. A code wheel according to claim 3, wherein,
the plurality of light-transmitting parts have first to nth light-transmitting areas S1 to Sn, wherein S1 is less than S2, n is equal to or greater than 3;
the light-transmitting portion having the first light-transmitting area S1, the light-transmitting portion having the second light-transmitting area S2, the light-transmitting portion having the nth light-transmitting area Sn are distributed on the code wheel in an equally-spaced annular array with S1, S2, and the nth light-transmitting area Sn as a cycle.
7. The code wheel of claim 2, wherein the body has a clockwise direction, each of the light-transmitting portions is provided with a filter, and each of the filters has a specified light blocking rate such that a luminous flux of the light-transmitting portion in the clockwise direction satisfies a predetermined propagation rule.
8. The code wheel of claim 7, wherein the light blocking rate of each of the filters increases in sequence in the clockwise direction.
9. An optical encoding apparatus, characterized in that the optical encoding apparatus comprises:
a code wheel according to any one of claims 1 to 8;
the driver is connected with the main body and used for driving the main body to rotate;
the light detection unit comprises a light emitter and a light receiver which are respectively positioned at two sides of the main body, and is used for detecting the luminous flux of the light transmission part when the main body rotates;
and a controller connected with the light detection unit and the driver, and used for judging the rotation direction of the main body according to whether the distribution rule of the luminous flux of each light transmission part changes.
10. The apparatus according to claim 9, wherein the controller is configured to acquire a distribution rule in the first circumferential direction or the second circumferential direction based on the luminous flux of each of the light transmitting portions to determine whether or not the rotation direction of the main body is changed.
11. The optical encoding apparatus according to claim 9, wherein determining whether the rotation direction of the main body has changed comprises:
acquiring an electric signal generated by the optical receiver, wherein the electric signal contains voltage level information;
converting the voltage level information into coding information and acquiring a circulation rule of the coding information;
judging whether a mutation signal exists in the coding information according to the circulation rule, and if so, generating indication information representing reverse rotation or damage of the main body according to a preset identification rule;
if not, generating indication information representing normal rotation of the main body.
12. The optical encoding device of claim 11, wherein determining whether an abrupt signal is present in the encoded information according to the cyclic rule comprises:
judging whether signals which do not accord with the cyclic rule arrangement exist in the coding information, and if so, judging that the signals which do not accord with the cyclic rule arrangement are the mutation signals.
13. The optical encoding device of claim 12, wherein generating the indication information indicative of the reverse rotation or damage of the body according to a preset recognition rule comprises:
if the coded information is composed of two or more different circulation joints, and the circulation joints are alternately arranged according to a certain sequence, generating indication information representing the reverse rotation of the main body, wherein the moment corresponding to the abrupt change signal is the moment of the reverse rotation of the main body;
and if the coded information repeatedly appears the mutation signal at a specific arrangement position, generating indication information representing the damage of the main body.
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| JP2015049140A (en) * | 2013-09-02 | 2015-03-16 | 株式会社ニコン | Scale for encoder, encoder, encoder manufacturing method, drive device and robot device |
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| CN1114741A (en) * | 1994-07-08 | 1996-01-10 | 致伸实业股份有限公司 | Vernier controller with displacement detector |
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