CN1264001C - Universal coding method of single loop absolute type angle coder - Google Patents
Universal coding method of single loop absolute type angle coder Download PDFInfo
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- CN1264001C CN1264001C CN 200310100209 CN200310100209A CN1264001C CN 1264001 C CN1264001 C CN 1264001C CN 200310100209 CN200310100209 CN 200310100209 CN 200310100209 A CN200310100209 A CN 200310100209A CN 1264001 C CN1264001 C CN 1264001C
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Abstract
The present invention relates to a universal encoding method for a single coil absolute type angle encoder. In the encoding method, N bar codes which are scored on one code track are orderly arranged to form N code zones; according to design parameters, such as the number N of the code zones, the design accuracy of the encoder, the type of a CCD sensor, etc., the number m of the bar codes in each of the code zones and the number k of the types of the bar codes are selected to optimally match the parameters, such as N, m, k, etc., wherein m is greater than or equal to 2, and k is greater than or equal to 2. The CCD sensor is utilized to acquire m bar codes or over m bar codes on the code track; according to the interrelationship between the acquired bar codes and the angular values pixels of the CCD sensor are corresponding to, the position of a reference line is precisely determined. The encoding method overcomes the defects that the existing absolute type angle encoder has too many code tracks and the excessively low precision of the encoder, a guide or a zero passage position process is needed to obtain the absolute position of the reference line, the bar codes have too many types, etc.; the present invention can effectively reduce the types of the bar codes and can improve the encoder accuracy further and needs no guide or zero passage process so that the angle encoder is small, the cost is low, and use and manufacture are convenient.
Description
Technical field
The present invention relates to a kind of angular encoder, particularly a kind of single-ring absolute type angular encoder that adopts general-purpose coding method.
Technical background
Angular encoder has irreplaceable effect as a kind of instrument and meter that adopts photoelectric technology to carry out noncontact angular measure and measurement in position metering and instrument of surveying and mapping field.
Traditional scrambler is divided into incremental encoder and absolute type encoder.Though the measuring accuracy of incremental encoder can be done very highly; But must increase by one tunnel received signal in the use, to differentiate the sense of rotation of scrambler more; In addition,, after then scrambler starts, must can measure, and this bootup process can only occur near the absolute zero position through after the bootup process if expect the measured value of reference line absolute position, therefore, inconvenience extremely during use.Simultaneously, improve the angle-measurement accuracy of incremental encoder, must increase the quantity of groove, this brings difficulty for the miniaturization of scrambler.
Traditional absolute type encoder is made up of a series of concentric chequered with black and white coding code channels, and the coding of reference line is positioned at along on the different coding code channel of radial direction.Improve the resolution of scrambler, institute is restricted more.Under the enough big situation of code-disc size, though can make precision and resolution reach high level by the quantity that increases code channel, the oversize usable range that limits scrambler again of code-disc; Simultaneously measuring-signal accepts device and also will increase, the optics of whole encoder and machinery are debug precision also proposed high requirement, and the output of each photoelectric device all will be disposed corresponding rearmounted treatment circuit, and it is very complicated that circuit system can become, and is unfavorable for improving the reliability of checkout equipment.If scrambler is size-constrained, guarantee that its precision just only reduces the width of code channel, and guarantee that simultaneously the homogeneity difficulty of code channel delineation is very big, but its homogeneity directly affects the resolution of scrambler again; Correspondingly, the light intensity that sees through optical slot also can reduce, and so the read-out device performance requirement that light-to-current inversion is used is very high, can increase the cost of system undoubtedly.Obviously, code-disc size and resolution are a pair of implacable contradiction concerning traditional absolute encoder, more and more can not adapt to the requirement of modern instrument instrument for scrambler portability, miniaturization, high reliability.
For overcoming the too much and baroque shortcoming of traditional absolute type encoder code channel number, Chengdu photoelectric technology research institute of the Chinese Academy of Sciences (development of RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER, " optical precision engineering ", 2002 the 1st phases) has developed a kind of RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER.Its ultimate principle is encoded on grating encoder for adopting alternate black and white strip, represents " district's mark ", " 1 mark " and " 0 mark " respectively with three kinds of different informal voucher lines of width, thereby whole grating encoder is divided into 128 five equilibriums.Carry out the optical imagery sampling with solid state image sensor SSPA then, obtain the spatial light intensity distributed intelligence of black and white strip picture signal on the code-disc, again video analog signal is converted into digital quantity, give computing machine by computer interface and carry out angle calculation, further use A/D converter that the sub-pix segmentation is carried out in the spatial light intensity distributed intelligence of each pixel, realize that the center of each subregion is accurately located.Though the final static repeatability precision of realizing of this system can reach 3 ", resolution reaches 4 ", the precision of scrambler only reaches 52.6 ", so low precision can satisfy user's demand far from.
Subsequently, Xi'an optical precision optical machinery research institute of the Chinese Academy of Sciences (a kind of novel optical scrambler, " optical precision engineering ", 2003 the 1st phases) has developed a kind of accurate absolute type encoder.This scrambler is made up of circulation code channel and stripe shape code channel, the circulation code channel still by a series of evenly staggered shadings and printing opacity etc. the grating lines of width form; Then by not waiting the bar code of width to form with each to printing opacity/shading, their common codings that constitutes a certain position are in promptly each significance bit of position coding is distributed in same stripe shape code channel along circumference (tangentially) to the stripe shape code channel continuously.According to the characteristics of accurate absolute type encoder, each position encoded significance bit has reduced position encoded code channel quantity along the circumference continuous distribution, and therefore, the code-disc volume is effectively dwindled; But position encoded significance bit tangentially distributes, make that again scrambler powers on after, can not obtain the coding of position at once, and will be through a bootup process, promptly through obtaining position encoded data after the very little displacement (unnecessary) near the zero-bit.
I have once invented a kind of " specific coding and the decoding that are used for distance (elevation) and measurement of angle " on August 14th, 2003, and (application for a patent for invention number: 03153286.1), though this compiling method can be applied in the angular encoder and solve the defective that exists in the external existing coding method: it is too much to deceive number of codes; A black sign indicating number skewness, the contained information of black sign indicating number are single.But this coding method requires the secret note sign indicating number to press periodic function to distribute, and can occur the too much defective of bar code kind like this.For the angular encoder that number of barcodes is N, the bar code kind the more must cause the difference of bar intersymbol littler, and this has increased difficulty for the identification of bar code, brings difficulty for the miniaturization of angular encoder, will increase manufacturing cost.
Summary of the invention
For further overcome code channel number in the existing method too much, the scrambler precision is low excessively, need or cross the zero-bit process through a guiding could obtain defectives such as the position of reference line and bar code kind be too much, the invention provides a kind of single-ring absolute type angular encoder that adopts general-purpose coding method, be a kind of scrambler than existing coding method more can further reduce the bar code kind effectively, improve the scrambler precision, without any need for guiding or zero passage process.
The present invention solves the technical scheme that its technical matters takes: choose N bar code, in this N bar code, order is selected the individual bar code of m (m＞=2) and is formed a sign indicating number district, can form N individual code district altogether, by adjusting the order of bar intersymbol, make N sign indicating number district of acquisition different, relation must be satisfied between the number m of bar code in bar code number N and yard district on bar code kind k (k＞=2), the code channel: k
m＞=N, thus reach interior bar code number m in sign indicating number district and the optimum matching of bar code kind k, this N bar code evenly is inscribed on the code channel of code-disc then.Utilize ccd sensor to obtain a bar code of the m in the sign indicating number district,, accurately determine the position of reference line according to the relation between mutual relationship between this m bar code and the pairing angle value of ccd sensor pixel.
The invention has the beneficial effects as follows: with the single-ring absolute type angular encoder of employing general-purpose coding method provided by the present invention, can further reduce effectively bar code kind, improve the precision of scrambler, without any need for guiding or zero passage process, make that angular encoder is littler, cost is lower, use and make more convenient.
Description of drawings
Fig. 1 is a coding synoptic diagram of the present invention.
The black part of 1. bar codes among Fig. 1, the 2. white portion of bar code, 3. complete bar code, zone 4. to be encoded.
Fig. 2 is a design point of view scrambler synoptic diagram of the present invention.
5. light sources among Fig. 2,6. catoptron, 7. code-disc, 8.CCD sensor.
Embodiment
1. the definition of several terms
Bar code: form by black part (1) and white portion (2).A complete bar code (3) is: initial border by in vain → black; End boundary by in vain → black, the angle value of representative is D.
The image ratio: the angle D of a bar code representative, going up the number of pixels that obtains through the transmission back at ccd sensor (8) is g, then the image ratio is:
Sign indicating number district: one group that is made up of m order bar code is used to identify the slightly bar code character of value of reference line.
Bar code kind: change the proportionate relationship between the bar code black/white, constitute the different bar codes that are easy to mutual differentiation.The present invention designs k kind bar code altogether.
The light that sends when the light source (5) of scrambler is after catoptron (6) illuminates code-disc (7), and the image that code-disc (7) is gone up bar code is received by ccd sensor (8), begins identification and computation process.
2. encoding scheme
On code-disc (7), delineate N bar code: f altogether
1, f
2..., f
N, this N bar code is combined by the different bar codes of k kind.In this N bar code, order is selected m bar code and is formed a sign indicating number district, and it is as shown in table 1 to form N individual code district altogether.
Table 1
By adjusting the order of bar intersymbol, make N sign indicating number district of acquisition different.This computation process is finished by computing machine.Order and the 1st the pairing angle value in the initial border of bar code by this N of Computer Storage sign indicating number district bar code use for the thick value of determining reference line.
Relation is necessary between the number m of bar code in bar code number N and the sign indicating number district on bar code kind k, the code channel satisfies:
k
m＞＝N (2)
3. the computing method of reference line position
The order that goes up bar code according to ccd sensor (8) is sought in storer with the sign indicating number of this bar code sequence consensus and is distinguished, and obtains the pairing coarse reading T in initial border of the 1st bar code in this yard district
1For the intensive reading number, obtain as follows: the initial border of supposing first bar code of this yard district is p at the last pairing reading of ccd sensor (8)
1, then the initial border of first bar code to the reading of reference line (p=0.0) is:
x
1＝p
1·d+T
1 (3)
Suppose that in like manner it is p that i bar code goes up pairing reading at ccd sensor (8)
i, then the initial border of i bar code to the reading of reference line (p=0.0) is:
x
i＝p
i·d+T
i (4)
Obtain the reading of the initial border of m bar code in the sign indicating number district according to (4) formula, get the measurement result that its mean value is reference line to reference line:
4. the measuring accuracy of scrambler is estimated
Here put aside the groove error of bar code.Owing to delineated N bar code on 360 ° code channel N sign indicating number district also arranged, total m bar code is used for determining the position of reference line in each yard district, and then the corresponding angle value in each yard district is:
Suppose that a sign indicating number district pairing pixel on ccd sensor is Q, then the pairing angle value of each pixel is:
Prior art can be easy to realize sub-pix (0.1 times of pixel) segmentation, and then the pairing angle value of sub-pix is:
τ represents the theoretical resolution of scrambler.Obtain because measuring is averaged by m bar code at every turn, then the theoretical precision of scrambler (standard deviation) is:
By (6), (7) two formulas as can be seen: improve the resolution and the precision of scrambler, must reduce the number m of bar code in the sign indicating number district; Increase the quantity N of bar code on the scrambler code channel; Increase the quantity Q of ccd sensor pixel.But the minimizing of bar code number m must cause the increase of bar code kind k in the sign indicating number district, and making the diminishing of variety classes bar code differences increases the identification difficulty of bar code; The increase of the delineation quantity N of bar code will increase the groove difficulty on the scrambler code channel; And the increase of ccd sensor pixel will strengthen the manufacturing cost of scrambler.Therefore, according to the accuracy requirement of scrambler, correctly select m, the matching relationship between k and N.Table 2 has been listed when the pairing pixel Q=1800 in the ccd sensor of selecting 2048 lines for use and sign indicating number district, the corresponding relation between bar code sum, resolution and the precision on bar code number, the scrambler code channel in bar code kind, the sign indicating number district.
Table 2
| Bar code kind k | Bar code sum (N) on the code channel | The bar code sum that code channel can be delineated | Bar code number (m) in the sign indicating number district | Scrambler resolution τ | Scrambler theoretical precision δ 0 |
| 20 | 400 | 400 | 2 | 0.36″ | 0.25″ |
| 8 | 400 | 512 | 3 | 0.54″ | 0.31″ |
| 5 | 400 | 625 | 4 | 0.72″ | 0.36″ |
| 4 | 400 | 1024 | 5 | 0.90″ | 0.40″ |
| 3 | 400 | 729 | 6 | 1.08″ | 0.44″ |
| 2 | 400 | 512 | 9 | 1.62″ | 0.54″ |
5. design example
Table 3, table 4 and table 5 are respectively different bar code kind (k=20 in the table 2, k=8, k=5) with the interior bar code number (m=2 in different sign indicating numbers district, m=3, m=4) pairing bar code sequence list, digital code wherein (0～19) is represented the different proportion relation between bar code " black/white " respectively, and the deviser can free as required this proportionate relationship.Can release according to this principle with the interior pairing bar code sequence list of bar code number m in different sign indicating numbers district for other different bar code kind k.The data in each yard district can derive according to the listed relation of table 1, for saving the explanation book, no longer enumerate here.
400 bar code sequence list (k=20, m=2) tables 3 on the code channel
| The bar code sequence number | Digital code | The bar code sequence number | Digital code | The bar code sequence number | Digital code | The bar code sequence number | Digital code | The bar code sequence number | Digital code |
| 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 | 0 0 1 1 2 1 3 1 4 1 5 1 6 1 7 1 8 1 9 1 10 1 11 1 12 1 13 1 14 1 15 1 16 1 17 1 18 1 19 1 0 19 19 18 | 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 | 19 17 19 16 19 15 19 14 19 13 19 12 19 11 19 10 19 9 19 8 19 7 19 6 19 5 19 4 19 3 19 2 19 0 18 18 17 18 16 18 15 18 14 18 | 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 | 13 18 12 18 11 18 10 18 9 18 8 18 7 18 6 18 5 18 4 18 3 18 2 18 0 17 17 16 17 15 17 14 17 13 17 12 17 11 17 10 17 9 17 8 | 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 | 17 7 17 6 17 5 17 4 17 3 17 2 17 0 16 16 15 16 14 16 13 16 12 16 11 16 10 16 9 16 8 16 7 16 6 16 5 16 4 16 3 16 2 16 | 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 | 0 15 15 14 15 13 15 12 15 11 15 10 15 9 15 8 15 7 15 6 15 5 15 4 15 3 15 2 15 0 14 14 13 14 12 14 11 14 10 14 9 14 8 14 |
400 bar code sequence lists on the code channel (k=20, m=2) continuous table 3
| The bar code sequence number | Digital code | The bar code sequence number | Digital code | The bar code sequence number | Digital code | The bar code sequence number | Digital code | The bar code sequence number | Digital code |
| 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 | 7 14 6 14 5 14 4 14 3 14 2 14 0 13 13 12 13 11 13 10 13 9 13 8 13 7 13 6 13 5 13 4 13 3 13 2 13 0 12 12 11 12 10 12 | 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 | 9 12 8 12 7 12 6 12 5 12 4 12 3 12 2 12 0 11 11 10 11 9 11 8 11 7 11 6 11 5 11 4 11 3 11 2 11 0 10 10 9 10 8 10 | 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 | 7 10 6 10 5 10 4 10 3 10 2 10 0 9 9 8 9 7 9 6 9 5 9 4 9 3 9 2 9 0 8 8 7 8 6 8 5 8 4 8 3 8 2 8 | 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 | 0 7 7 6 7 5 7 4 7 3 7 2 7 0 6 6 5 6 4 6 3 6 2 6 0 5 5 4 5 3 5 2 5 0 4 4 3 4 2 4 0 3 3 2 | 397 398 399 400 | 3 0 2 2 |
400 bar code sequence list (k=8, m=3) tables 4 on the code channel
| The bar code sequence number | Digital code | The bar code sequence number | Digital code | The bar code sequence number | Digital code | The bar code sequence number | Digital code | The bar code sequence number | Digital code |
| 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 | 0 0 0 1 1 1 2 2 2 3 3 3 4 5 6 7 7 7 6 7 6 6 7 5 7 7 5 6 6 6 5 7 6 5 6 5 5 7 5 5 6 4 7 7 | 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 | 4 7 6 4 6 7 4 6 6 4 5 5 5 4 7 5 0 7 7 3 7 7 2 7 7 1 7 7 0 7 6 3 7 6 2 7 6 1 7 6 0 7 5 4 | 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 | 6 5 4 5 4 4 7 4 5 3 7 5 3 6 7 3 6 6 3 6 5 3 5 7 4 4 6 4 4 5 2 7 5 2 6 7 2 6 6 2 6 5 2 5 | 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 | 7 3 5 6 3 5 5 3 4 7 3 4 6 3 4 4 4 3 7 4 3 6 4 3 5 4 3 4 3 3 2 7 4 2 7 3 3 7 3 2 6 4 2 6 | 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 | 3 3 1 7 5 1 7 4 1 7 3 1 6 7 1 6 6 1 6 5 1 6 4 1 6 3 2 5 6 2 5 5 2 4 7 2 5 4 2 5 3 3 0 7 |
400 bar code sequence lists on the code channel (k=8, m=3) continuous table 4
| The bar code sequence number | Digital code | The bar code sequence number | Digital code | The bar code sequence number | Digital code | The bar code sequence number | Digital code | The bar code sequence number | Digital code |
| 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 | 4 0 7 3 0 6 7 0 6 6 0 6 5 0 6 4 0 6 3 1 5 7 2 4 6 2 4 5 1 5 6 1 5 5 1 4 7 1 5 4 1 5 3 2 | 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 | 4 4 2 4 3 2 3 2 2 7 2 3 1 4 6 1 4 5 0 5 7 1 4 4 1 4 3 1 3 7 2 2 6 2 3 7 1 3 6 3 0 5 6 0 | 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 | 5 5 0 4 7 0 5 4 0 5 3 1 2 7 1 2 6 1 3 5 3 0 4 6 0 4 5 7 0 4 4 0 4 3 0 3 7 0 3 6 2 2 5 2 | 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 | 3 0 2 7 0 2 6 0 3 5 2 2 4 2 3 6 1 2 5 1 3 4 2 2 1 7 2 1 6 2 1 5 2 1 4 2 1 3 3 6 0 2 5 0 | 397 398 399 400 | 3 4 1 3 |
400 bar code sequence list (k=5, m=4) tables 5 on the code channel
| The bar code sequence number | Digital code | The bar code sequence number | Digital code | The bar code sequence number | Digital code | The bar code sequence number | Digital code | The bar code sequence number | Digital code |
| 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 | 0 0 0 0 1 4 4 4 4 3 4 4 4 2 4 4 4 1 4 4 3 3 4 4 3 2 4 4 3 1 4 4 2 3 4 4 2 2 4 4 2 1 4 4 | 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 | 1 3 4 4 1 2 4 4 1 1 4 4 0 4 4 4 0 3 4 4 0 2 4 4 0 1 4 3 4 3 4 2 4 3 4 1 4 3 3 3 4 3 3 2 | 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 | 4 3 3 1 4 3 2 3 4 3 2 2 4 3 2 1 4 3 1 3 4 3 1 2 4 3 1 1 4 3 0 4 4 3 0 3 4 3 0 2 4 3 0 1 | 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 | 4 2 4 2 4 1 4 2 3 3 4 2 3 2 4 2 3 1 4 2 2 3 4 2 2 2 4 2 2 1 4 2 1 3 4 2 1 2 4 2 1 1 4 2 | 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 | 0 4 4 2 0 3 4 2 0 2 4 2 0 1 4 1 4 1 3 3 4 1 3 2 4 1 3 1 4 1 2 3 4 1 2 2 4 1 2 1 4 1 1 3 |
400 bar code sequence lists on the code channel (k=5, m=4) continuous table 5
| The bar code sequence number | Digital code | The bar code sequence number | Digital code | The bar code sequence number | Digital code | The bar code sequence number | Digital code | The bar code sequence number | Digital code |
| 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 | 4 1 1 2 4 1 1 1 4 1 0 4 4 1 0 3 4 1 0 2 4 1 0 1 4 0 4 3 4 0 4 2 4 0 4 1 4 0 3 3 4 0 3 2 | 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 | 4 0 3 1 4 0 2 3 4 0 2 2 4 0 2 1 4 0 1 3 4 0 1 2 4 0 1 1 4 0 0 4 4 0 0 3 4 0 0 2 4 0 0 1 | 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 | 3 3 3 3 2 3 3 3 1 3 3 2 2 3 3 2 1 3 3 1 2 3 3 1 1 3 3 0 4 3 3 0 3 3 3 0 2 3 3 0 1 3 2 3 | 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 | 2 3 1 3 2 2 2 3 2 2 1 3 2 1 2 3 2 1 1 3 2 0 4 3 2 0 3 3 2 0 2 3 2 0 1 3 1 3 1 2 2 3 1 2 | 397 398 399 400 | 1 3 1 1 |
Claims (1)
1. single-ring absolute type angular encoder that adopts general-purpose coding method, form by light source (5), catoptron (6), code-disc (7) and ccd sensor (8), it is characterized in that: choose N bar code, in this N bar code, order is selected m bar code and is formed a sign indicating number district, can form N individual code district altogether, by adjusting the order of bar intersymbol, make N sign indicating number district of acquisition different, relation must be satisfied between the number m of bar code in bar code number N and yard district on bar code kind k, the code channel: k
m＞=N, k 〉=2 wherein, then this N bar code evenly is inscribed on the code channel of code-disc, ccd sensor (8) is gathered m bar code in the sign indicating number district, according to the relation between mutual relationship between this m bar code and the last pairing angle value of pixel of ccd sensor (8), determine the position of reference line.
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| CN108534810A (en) * | 2018-03-07 | 2018-09-14 | 珠海格力节能环保制冷技术研究中心有限公司 | Photoelectric encoder and dynamic grating |
| CN109029513B (en) * | 2018-05-07 | 2019-11-12 | 南京航空航天大学 | A kind of individual pen absolute encoder is anti-interference and the Subdividing Processing method of noise |
| CN108592960B (en) * | 2018-05-10 | 2023-07-21 | 常州市新瑞得仪器有限公司 | Absolute value encoder and working method thereof |
| CN110726425B (en) * | 2019-10-14 | 2022-10-21 | 中国科学院光电技术研究所 | Image type decoding method of single-ring absolute type photoelectric code disc |
-
2003
- 2003-10-10 CN CN 200310100209 patent/CN1264001C/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101476902B (en) * | 2009-01-13 | 2010-09-22 | 常州大地测绘科技有限公司 | Single-code channel absolute position encoding method |
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