CN1420635A - Single-pass encoding method of absolute encoder, and encoder - Google Patents

Single-pass encoding method of absolute encoder, and encoder Download PDF

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Publication number
CN1420635A
CN1420635A CN 02153073 CN02153073A CN1420635A CN 1420635 A CN1420635 A CN 1420635A CN 02153073 CN02153073 CN 02153073 CN 02153073 A CN02153073 A CN 02153073A CN 1420635 A CN1420635 A CN 1420635A
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coding
code
groove
present encoding
coded sequence
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郑洪�
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Zhejiang University ZJU
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Zhejiang University ZJU
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Abstract

A single channel coding method of coder in absolute type uses a kind of continuous displacement coding consisting of 0/1 with the same bit and there is a sequential relationship between the codes in the continuous coding set of displacement i.e. there is a precursor code for each code except the first code and there is a successor code for each code except the last code. The high n-1 bit of code at any one of n bit is the same as the low n-1 bit in its precursor code and there is no the same code existed in the same code set. The straight line coder and the shaft position coder can be made by the above mentioned method.

Description

The single track coding method and the encoder of absolute type encoder
Technical field
The present invention relates to the single track coding method and the encoder of absolute type encoder.
Background technology
Position coder is the transducer of measuring position and displacement.By measured linear encoder and the shaft-position encoder of being divided into.Measure the geometric sense of length and angle respectively.Encoder has the branch of increment type and absolute type again.The encoder of increment type is many to be core with the grating, and displacement is become electric pulse.When displacement produces, then produce pulse train.With forward-backward counter accumulative total pulse number.The plus-minus mode of toggle count device, the displacement of expression different directions.The accumulated result of counter can be converted into displacement.Rapid, simple in structure, the easy miniaturization of incremental encoder response.Because the mode of its relative measurement can not obtain the absolute standard position when just powering on.In case thereby measure power down midway then can lose measurement data.The error of disturbing pulse generation also can't be rejected in addition.The core of absolute type encoder is a coding disk.It is that positional information is engraved on the coding disk with binary-coded form, thereby its output is the code of a unique geometric sense of expression.Many code channels are arranged on the code-disc, and every code channel is represented binary-coded a certain position.The resolving power of code-disc depends on the bar number of groove on the outer course.Bar number resolving power more at most is high more.What of code channel are the coding range of code-disc depend on.The many persons of code channel, the coding range of code-disc is just big.Thereby the measuring range of encoder is also big.Because many code channels structure of code-disc makes the manufacturing of code-disc become complicated.At first the coded image on the code channel must be made very accurately, particularly high-order code channel.Position between code channel and code channel relation also has very strict requirement in addition.Code channel is many more, and the physical dimension of code-disc is also just big more, finally causes the inconvenience of using.The final problem of absolute type encoder is the coding that is how to carry out positional information, makes code channel few as best one can.Compare with incremental encoder it have fix zero point, antijamming capability is strong, be not afraid of advantage such as power down.Its shortcoming is the manufacturing process complexity, be difficult for miniaturization.Although in theory, the encoder of absolute type has plurality of advantages than increment type, because the difficulty of making makes the absolute type encoder incremental encoder that is far from use generally.
Because the problem of many code channels is very difficult with position encoded directly being produced on the coded scale.It is main because the coding image on the high-order code channel will be done very longly.As 1 meter coded scale, the coding image on its highest order code channel will have half meter long.So linear encoder generally has two kinds, the one, be core with the grating chi, also be a kind of encoder of increment type, so-called absolute type linear encoder then is to change the distance of straight line the variation of angle into screw mandrel, the coding disk with multi-turn measures again.But the latter is because many mechanical switch then make precision reduce.And be not the straight-line code of real meaning.
Summary of the invention
The objective of the invention is to develop a kind of single track coding method and encoder that adopts the absolute type encoder of displacement continuous programming code.
For achieving the above object, the technical solution used in the present invention is as follows:
The single track coding method of absolute type encoder: adopt that a kind of figure place equates and by the 0/1 displacement continuous programming code of forming, in the set of displacement continuous programming code, there is ordinal relation between the coding, promptly each coding all has a precursor coding except that first coding, or each coding all has a follow-up coding except that last coding, the high n-1 position of any one n position coding is all identical with low n-1 position in its precursor coding, do not have identical coding in same code set, the concrete steps of structure coding are as follows:
(1) appoints and get one and be encoded to first coding of the coded sequence of asking, and present encoding is counted coded sequence by 0, the 1 n position of forming;
(2) the coding number in the detection coded sequence is if reached 2 nIndividual coding then finishes coding work;
(3) remove the highest order of present encoding sequence, and after its lowest order, mend 0;
(4) encode with this and count coded sequence as new present encoding;
(5) check in the coded sequence whether have identical coding,, changeed for the 2nd step if do not have;
(6) lowest order with present encoding changes 1 into;
(7) check in the coded sequence whether have identical coding,, changeed for the 2nd step if do not have;
(8) deletion present encoding, with coded sequence last the coding as present encoding;
(9) whether the position, end of test present encoding is 0; Be then to change for the 6th step, otherwise changeed for the 8th step.
2. the encoder of the single track coding method of a kind of absolute type encoder of adopting of the present invention, it comprises:
(1) straight-line code chi is carved with the groove of expression length along straight-line code chi axis direction, and groove is shaped as straight line, and the axis normal of the axis of groove and straight-line code chi and adjacent ruling span equate or be unequal;
(2) photoelectric reader, photoelectric reader comprise CCD charge coupled device and source of parallel light two parts, lay respectively at straight-line code chi both sides, and source of parallel light is projeced into the groove image on the CCD;
3. the encoder of the single track coding method of the another kind of absolute type encoder that adopts of the present invention, it comprises:
(1) calibration coding disk (12), on calibration coding disk surface, along the circumferential direction be carved with the groove (8) of expression angle, groove (8) is shaped as involute, and the basic circle of this involute is concentric with the centre of gyration of calibration coding disk, and base tangent length is equal or unequal between adjacent groove;
(2) photoelectric reader, photoelectric reader comprise CCD charge coupled device (11) and source of parallel light two parts, lay respectively at calibration coding disk both sides, and source of parallel light is projeced into the groove image on the CCD.The photosensitive unit of CCD charge coupled device is arranged along groove (8) common normal direction.
To the CCD device, CCD just obtains a width of cloth coded image to illuminator with the groove image projecting.Through opto-electronic conversion and computing, but system is with regard to the numerical value of recognition coding.And then obtain the positional information of this coding.
The beneficial effect that the present invention has is:
Because the coding method of employing single track need not be considered the correlation between code channel, make the required precision of scribing of coded scale and coding disk reduce greatly, adopt the single track coded scale (coding disk) of scribing precision equally, can make the single track encoder more much higher than multiplex coding device precision.In fact multiplex coding can't be used for the linear encoder of long distance (above 1 meter) in addition, and the single track coding can be realized easily.The single track encoder has kept outside all advantages of multiplex coding device, and its technology is simple, easily miniaturization.Alternative widely used various increment types and absolute type encoder at present.
Description of drawings
Fig. 1 is a coding method flow chart of the present invention;
Fig. 2 is a coder structure principle schematic of the present invention;
Fig. 3 is an another kind of coder structure principle schematic of the present invention.
Embodiment
As shown in Figure 1, be coding method flow chart of the present invention.It adopts that a kind of figure place equates and by the 0/1 displacement continuous programming code of forming, in the set of displacement continuous programming code, there is ordinal relation between the coding, promptly each coding all has a precursor coding except that first coding, or each coding all has a follow-up coding except that last coding, the high n-1 position of any one n position coding is all identical with low n-1 position in its precursor coding, do not have identical coding in same code set, the concrete steps of structure coding are as follows:
(1) appoints and get one and be encoded to first coding of the coded sequence of asking, and present encoding is counted coded sequence by 0, the 1 n position of forming;
(2) the coding number in the detection coded sequence is if reached 2 nIndividual coding then finishes coding work;
(3) remove the highest order of present encoding sequence, and after its lowest order, mend 0;
(4) encode with this and count coded sequence as new present encoding;
(5) check in the coded sequence whether have identical coding,, changeed for the 2nd step if do not have;
(6) lowest order with present encoding changes 1 into;
(7) check in the coded sequence whether have identical coding,, changeed for the 2nd step if do not have;
(8) deletion present encoding, with coded sequence last the coding as present encoding;
(9) whether the position, end of test present encoding is 0; Be then to change for the 6th step, otherwise changeed for the 8th step.
Use above-mentioned coding method, can produce the sequence of maximum coding, promptly the coding number in the coded sequence can reach 2 n
Shown in Fig. 2 (a), Fig. 2 (b), be coder structure principle schematic of the present invention.It comprises following two parts:
(1) the straight-line code chi 1, is carved with the groove 6 of expression length along straight-line code chi 1 axis direction, and groove 6 is shaped as straight line, and the axis normal of the axis of groove 6 and straight-line code chi 1 and adjacent ruling span equate or be unequal;
(2) photoelectric reader, photoelectric reader comprise CCD charge coupled device 2 and source of parallel light two parts, lay respectively at straight-line code chi 1 both sides, and source of parallel light is projeced into the groove image on the CCD.
5 is bits of coded among Fig. 2 (b), and 7 are the coding implication among Fig. 2 (c).
As shown in Figure 3, be another kind of coder structure principle schematic of the present invention.It comprises following two parts:
(1) the calibration coding disk 12, along the circumferential direction are carved with the groove 8 of expression angle on calibration coding disk surface, and groove 8 is shaped as involute, and the basic circle of this involute is concentric with the centre of gyration of calibration coding disk, and base tangent length is equal or unequal between adjacent groove;
(2) photoelectric reader, photoelectric reader comprise CCD charge coupled device 11 and source of parallel light two parts, lay respectively at calibration coding disk both sides, and source of parallel light is projeced into the groove image on the CCD.The photosensitive unit of CCD charge coupled device is arranged along groove 8 common normal directions.
The involute point nearest apart from the rotating disk center of circle is called the root of involute; Burst at the seams and be called the top of involute apart from rotating disk center of circle point farthest.
The photosensitive unit of CCD is arranged in order on the normal direction of coding rotary disk involute.Optical system is amplified the image of involute and is projected on the photosensitive unit of CCD.When the light coding disk rotated, the involute image was along the orientation translation of CCD photosensitive unit.If with CCD photosensitive unit spacing is measurement unit, measure the displacement of this intersection point, just can try to achieve the deflection angle of coding rotary disk.Article one, the deflection angle scope that can represent of involute is very little, must all be carved with involute on all corresponding positions in 360 ° of circumference range of coding disk, just energy measurement deflection angle arbitrarily.
9 are the coding implication among the figure, and 10 is coding site.
Now the example with 4 codings further specifies coding method (n=4)
1. the 1st step is as stated above got 40 first codings as coded sequence, counts code sequence tabulation 1 with 0000, and with it as present encoding.
2. the 2nd step was detected and learns coding number＜16 as stated above, continued coding.
3. carry out said method the 3rd, 4 go on foot table 2.The last present encoding that is encoded in the table.Repeated code 0000 appears.
4. carry out the 5th, 6 steps of said method, change the present encoding lowest order into 1 by 0, must table 3.
5. carry out the 7th step of said method.No repeated code changes the 2nd step of said method.
6. carry out continuously said method the 2nd, 3,4,5, the step 4 times must table 4.Repeated code 0000 appears.
7. carry out the 6th step of said method, must table 5.
8. carry out the 7th step of said method, repeated code 0001 occurs.
9. carry out the 8th step of said method, deletion present encoding 0001, with 1000 as present encoding, must table 6.
10. carry out the 9th step of said method,, change the 6th step of said method because of the present encoding lowest order is 0.
11. carry out the 6th step of said method, must table 7.
12. carry out the 7th step of said method, change the 2nd step of said method.
13. carry out said method the 2nd, 3,4 go on foot table 8.
14. carry out said method the 5th, 6 go on foot table 9.
15. carry out the 7th step of said method, change the 2nd step of said method.
Go on foot 4 times 16. carry out said method the 2nd, 3,4,5 continuously, must table 10.Repeated code 0000 appears.
17. carry out said method the 6th go on foot table 11.
18. carry out the 7th step of said method, repeated code 0001 occurs.
19. carry out said method the 8th go on foot table 12.
Change the 6th step of said method 20. carry out the 9th step of said method back.
21. carry out said method the 6th go on foot table 13.
22. carry out the 7th step of said method, repeated code 0001 occurs.
23. carry out said method the 8th go on foot table 14.
Change the 6th step of execution said method 24. carry out the 9th step of said method back.
25. carry out the 6th step of said method, must table 15.
Change the 2nd step of execution said method 26. carry out the 7th step of said method back.
27. carrying out said method the 2nd, 3,4,5 step 2 times continuously must table 16.Repeated code 0100 appears.
28. carry out said method the 6th go on foot table 17.
Change the 2nd step of execution said method 29. carry out the 7th step of said method back.
30. carry out continuously said method the 2nd, 3,4,5 go on foot table 17, repeated code 1010 appears.
31. carry out said method the 6th go on foot table 19.
32. changeing, the 7th step of said method back carries out the 2nd step of said method.
33. carry out continuously said method the 2nd, 3,4,5 go on foot table 20.Repeated code 0110 appears
34. carry out said method the 6th go on foot table 21.
Change the 2nd step of execution said method 35. carry out the 7th step of said method back.
36. carrying out said method the 2nd, 3,4,5 step 4 times continuously must table 22, repeated code 0000 occurs.
37. carry out said method the 6th go on foot table 23.
38. carry out the 7th step of said method, repeated code 0001 occurs.
39. carry out said method the 8th go on foot table 24.
Change the 6th step of execution said method 40. carry out the 9th step of said method back.
41. carry out said method the 6th go on foot table 25.
42. carry out the 7th step of said method, repeated code 1001 occurs.
43. carry out said method the 8th go on foot table 26.
Change the 6th step of execution said method 44. carry out the 9th step of said method back.
45. carry out said method the 6th go on foot table 27.
46. carry out the 7th step of said method, repeated code 1101 occurs.
47. carry out said method the 8th go on foot table 28.
Change the 6th step of execution said method 48. carry out the 9th step of said method back.
49. carry out said method the 6th go on foot table 29.
Change the 2nd step of execution said method 50. carry out the 7th step of said method back
51. carry out continuously said method the 2nd, 3,4,5, the step 3 times must table 30.The number of encoding this moment has reached 16, end-of-encode.
With the overlapping arrangement of 16 in the table 30 codings, just can obtain following coding form:
0000100110101111000
The position Coding
????0 ?0000
????1
????2
????3
????4
????5
????6
????7
????8
????9
????10
????11
????12
????13
????14
????15
The position Coding
????0 ?0000
????1 ?0000
????2
????3
????4
????5
????6
????7
????8
????9
????10
????11
????12
????13
????14
????15
The position Coding
????0 ?0000
????1 ?0001
????2
????3
????4
????5
????6
????7
????8
????9
????10
????11
????12
????13
????14
????15
The position Coding
????0 ?0000
????1 ?0001
????2 ?0010
????3 ?0100
????4 ?1000
????5 ?0000
????6
????7
????8
????9
????10
????11
????12
????13
????14
????15
The position Coding
????0 ?0000
????1 ?0001
????2 ?0010
????3 ?0100
????4 ?1000
????5 ?0001
????6
????7
????8
????9
????10
????11
????12
????13
????14
????15
Table 1 table 2 table 3 table 4 table 5
The position Coding
????0 ?0000
????1 ?0001
????2 ?0010
????3 ?0100
????4 ?1000
????5
????6
????7
????8
????9
????10
????11
????12
????13
????14
????15
The position Coding
????0 ?0000
????1 ?0001
????2 ?0010
????3 ?0100
????4 ?1001
????5
????6
????7
????8
????9
????10
????11
????12
????13
????14
????15
The position Coding
????0 ?0000
????1 ?0001
????2 ?0010
????3 ?0100
????4 ?1001
????5 ?0010
????6
????7
????8
????9
????10
????11
????12
????13
????14
????15
The position Coding
????0 ?0000
????1 ?0001
????2 ?0010
????3 ?0100
????4 ?1001
????5 ?0011
????6
????7
????8
????9
????10
????11
????12
????13
????14
????15
The position Coding
????0 ?0000
????1 ?0001
????2 ?0010
????3 ?0100
????4 ?1001
????5 ?0011
????6 ?0110
????7 ?1100
????8 ?1000
????9 ?0000
????10
????11
????12
????13
????14
????15
Table 6 table 7 table 8 table 9 table 10
The position Coding
????0 ?0000
????1 ?0001
????2 ?0010
????3 ?0100
????4 ?1001
????5 ?0011
????6 ?0110
????7 ?1100
????8 ?1000
????9 ?0001
????10
????11
????12
????13
????14
????15
The position Coding
????0 ?0000
????1 ?0001
????2 ?0010
????3 ?0100
????4 ?1001
????5 ?0011
????6 ?0110
????7 ?1100
????8 ?1000
????9
????10
????11
????12
????13
????14
????15
The position Coding
????0 ?0000
????1 ?0001
????2 ?0010
????3 ?0100
????4 ?1001
????5 ?0011
????6 ?0110
????7 ?1100
????8 ?1001
????9
????10
????11
????12
????13
????14
????15
The position Coding
????0 ?0000
????1 ?0001
????2 ?0010
????3 ?0100
????4 ?1001
????5 ?0011
????6 ?0110
????7 ?1100
????8
????9
????10
????11
????12
????13
????14
????15
The position Coding
????0 ?0000
????1 ?0001
????2 ?0010
????3 ?0100
????4 ?1001
????5 ?0011
????6 ?0110
????7 ?1101
????8
????9
????10
????11
????12
????13
????14
????15
Table 11 table 12 table 13 table 14 table 15
The position Coding
????0 ?0000
?`???1 ?0001
????2 ?0010
????3 ?0100
????4 ?1001
????5 ?0011
????6 ?0110
????7 ?1101
????8 ?1010
????9 ?0100
????10
????11
????12
????13
????14
????15
The position Coding
????0 ?0000
????1 ?0001
????2 ?0010
????3 ?0100
????4 ?1001
????5 ?0011
????6 ?0110
????7 ?1101
????8 ?1010
????9 ?0101
????10
????11
????12
????13
????14
????15
The position Coding
????0 ?0000
????1 ?0001
????2 ?0010
????3 ?0100
????4 ?1001
????5 ?0011
????6 ?0110
????7 ?1101
????8 ?1010
????9 ?0101
????10 ?1010
????11
????12
????13
????14
????15
The position Coding
????0 ?0000
????1 ?0001
????2 ?0010
????3 ?0100
????4 ?1001
????5 ?0011
????6 ?0110
????7 ?1101
????8 ?1010
????9 ?0101
????10 ?1011
????11
????12
????13
????14
????15
The position Coding
????0 ?0000
????1 ?0001
????2 ?0010
????3 ?0100
????4 ?1001
????5 ?0011
????6 ?0110
????7 ?1101
????8 ?1010
????9 ?0101
????10 ?1011
????11 ?0110
????12
????13
????14
????15
Table 16 table 17 table 18 table 19 table 20
The position Coding
????0 ?0000
????1 ?0001
????2 ?0010
????3 ?0100
????4 ?1001
????5 ?0011
????6 ?0110
????7 ?1101
????8 ?1010
????9 ?0101
????10 ?1011
????11 ?0111
????12
????13
????14
????15
The position Coding
????0 ?0000
????1 ?0001
????2 ?0010
????3 ?0100
????4 ?1001
????5 ?0011
????6 ?0110
????7 ?1101
????8 ?1010
????9 ?0101
????10 ?1011
????11 ?0111
????12 ?1110
????13 ?1100
????14 ?1000
????15 ?0000
The position Coding
????0 ?0000
????1 ?0001
????2 ?0010
????3 ?0100
????4 ?1001
????5 ?0011
????6 ?0110
????7 ?1101
????8 ?1010
????9 ?0101
????10 ?1011
????11 ?0111
????12 ?1110
????13 ?1100
????14 ?1000
????15 ?0001
The position Coding
????0 ?0000
????1 ?0001
????2 ?0010
????3 ?0100
????4 ?1001
????5 ?0011
????6 ?0110
????7 ?1101
????8 ?1010
????9 ?0101
????10 ?1011
????11 ?0111
????12 ?1110
????13 ?1100
????14 ?1000
????15
The position Coding
????0 ?0000
????1 ?0001
????2 ?0010
????3 ?0100
????4 ?1001
????5 ?0011
????6 ?0110
????7 ?1101
????8 ?1010
????9 ?0101
????10 ?1011
????11 ?0111
????12 ?1110
????13 ?1100
????14 ?1001
????15
Table 21 table 22 table 23 table 24 table 25
The position Coding
????0 ?0000
????1 ?0001
????2 ?0010
????3 ?0100
????4 ?1001
????5 ?0011
????6 ?0110
????7 ?1101
????8 ?1010
????9 ?0101
????10 ?1011
????11 ?0111
????12 ?1110
????13 ?1100
????14
????15
The position Coding
????0 ?0000
????1 ?0001
????2 ?0010
????3 ?0100
????4 ?1001
????5 ?0011
????6 ?0110
????7 ?1101
????8 ?1010
????9 ?0101
????10 ?1011
????11 ?0111
????12 ?1110
????13 ?1101
????14
????15
The position Coding
????0 ?0000
????1 ?0001
????2 ?0010
????3 ?0100
????4 ?1001
????5 ?0011
????6 ?0110
????7 ?1101
????8 ?1010
????9 ?0101
????10 ?1011
????11 ?0111
????12 ?1110
????13
????14
????15
The position Coding
????0 ?0000
????1 ?0001
????2 ?0010
????3 ?0100
????4 ?1001
????5 ?0011
????6 ?0110
????7 ?1101
????8 ?1010
????9 ?0101
????10 ?1011
????11 ?0111
????12 ?1111
????13
????14
????15
The position Coding
????0 ?0000
????1 ?0001
????2 ?0010
????3 ?0100
????4 ?1001
????5 ?0011
????6 ?0110
????7 ?1101
????8 ?1010
????9 ?0101
????10 ?1011
????11 ?0111
????12 ?1111
????13 ?1110
????14 ?1100
????15 ?1000
Table 26 table 27 table 28 table 29 table 30

Claims (3)

1. the single track coding method of absolute type encoder, it is characterized in that: adopt that a kind of figure place equates and by the 0/1 displacement continuous programming code of forming, in the set of displacement continuous programming code, there is ordinal relation between the coding, promptly each coding all has a precursor coding except that first coding, or each coding all has a follow-up coding except that last coding, the high n-1 position of any one n position coding is all identical with low n-1 position in its precursor coding, do not have identical coding in same code set, the concrete steps of structure coding are as follows:
(1) appoints and get one and be encoded to first coding of the coded sequence of asking, and present encoding is counted coded sequence by 0, the 1 n position of forming;
(2) the coding number in the detection coded sequence is if reached 2 nIndividual coding then finishes coding work;
(3) remove the highest order of present encoding sequence, and after its lowest order, mend 0;
(4) encode with this and count coded sequence as new present encoding;
(5) check in the coded sequence whether have identical coding,, changeed for the 2nd step if do not have;
(6) lowest order with present encoding changes 1 into;
(7) check in the coded sequence whether have identical coding,, changeed for the 2nd step if do not have;
(8) deletion present encoding, with coded sequence last the coding as present encoding;
(9) whether the position, end of test present encoding is 0; Be then to change for the 6th step, otherwise changeed for the 8th step.
2. the encoder of the single track coding method of absolute type encoder according to claim 1, its feature comprises:
(1) straight-line code chi (1) is carved with the groove (6) of expression length along straight-line code chi (1) axis direction, and groove (6) is shaped as straight line, and the axis normal of the axis of groove (6) and straight-line code chi (1) and adjacent ruling span equate or be unequal;
(2) photoelectric reader, photoelectric reader comprise CCD charge coupled device (2) and source of parallel light two parts, lay respectively at straight-line code chi (1) both sides, and source of parallel light is projeced into the groove image on the CCD.
3. the encoder of the single track coding method of absolute type encoder according to claim 1, its feature comprises:
(1) calibration coding disk (12), on calibration coding disk surface, along the circumferential direction be carved with the groove (8) of expression angle, groove (8) is shaped as involute, and the basic circle of this involute is concentric with the centre of gyration of calibration coding disk, and base tangent length is equal or unequal between adjacent groove;
(2) photoelectric reader, photoelectric reader comprise CCD charge coupled device (11) and source of parallel light two parts, lay respectively at calibration coding disk both sides, and source of parallel light is projeced into the groove image on the CCD.The photosensitive unit of CCD charge coupled device is arranged along groove (8) common normal direction.
CN 02153073 2002-12-03 2002-12-03 Single-pass encoding method of absolute encoder, and encoder Pending CN1420635A (en)

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Application Number Priority Date Filing Date Title
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Application Number Priority Date Filing Date Title
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Publication Number Publication Date
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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101876557B (en) * 2009-04-30 2013-03-06 浙江中科德润科技有限公司 Position detecting device and signal processing device and method thereof
CN101876556B (en) * 2009-04-30 2013-06-12 浙江关西电机有限公司 Position detector and signal processing device thereof
CN103604448A (en) * 2013-11-28 2014-02-26 中国航空工业集团公司沈阳空气动力研究院 Absolute type encoder
CN104006833A (en) * 2013-02-25 2014-08-27 北斗导航科技有限公司 Code disc, rotary encoder, coding method and equipment with encoder

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101876557B (en) * 2009-04-30 2013-03-06 浙江中科德润科技有限公司 Position detecting device and signal processing device and method thereof
CN101876556B (en) * 2009-04-30 2013-06-12 浙江关西电机有限公司 Position detector and signal processing device thereof
CN104006833A (en) * 2013-02-25 2014-08-27 北斗导航科技有限公司 Code disc, rotary encoder, coding method and equipment with encoder
CN104006833B (en) * 2013-02-25 2017-02-08 北斗导航科技有限公司 Code disc, rotary encoder, coding method and equipment with encoder
CN103604448A (en) * 2013-11-28 2014-02-26 中国航空工业集团公司沈阳空气动力研究院 Absolute type encoder
CN103604448B (en) * 2013-11-28 2016-05-04 中国航空工业集团公司沈阳空气动力研究所 Absolute type encoder

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