CN1598486A - Method for encoding absolute position - Google Patents
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- CN1598486A CN1598486A CN 200410009539 CN200410009539A CN1598486A CN 1598486 A CN1598486 A CN 1598486A CN 200410009539 CN200410009539 CN 200410009539 CN 200410009539 A CN200410009539 A CN 200410009539A CN 1598486 A CN1598486 A CN 1598486A
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Abstract
The invention is an absolute position coding method, it only uses a code channel arranged with two-value sign, when uses a reading device to read the two-value sign on the code channel and forms the binary number, when the reading device moves along the code channel, the binary number read on each position has uniqueness, uses the binary number as address, searches the coordinate value of each position in the searching table and outputs, thus the absolute localization can be realized along the sealed curve according to the length or angle. The coordinate starting point of the code and the coordinate value of each position can be changed through changing the number in the searching table.
Description
Technical field
The present invention relates to a kind of solid size road absolute position encoder method, be used for determining the absolute position of mobile object on its track.
Background technology
Known absolute fix scrambler along circumference, straight line or curve all adopts the coding method of many code channels at present, and promptly the length of every code channel is the total length of track to be positioned, and device is read in every one of code channel configuration.Each code channel is divided into 2,4,8 in order respectively ..., 2
N-1, 2
nIndividual position of halving is equipped with a two-value mark on each position, as printing opacity or light tight, two kinds of different colours, two kinds of different materials, raised or sunken, south magnetic pole or north magnetic pole etc., generally describe with 0 or 1.Read flag attribute 0 or 1 on every code channel by reading device on each bit position undetermined, the n bit of reading on n bar code channel promptly is the desired position coordinate, can be in order to determine 2
nIndividual ad-hoc location.Two-value mark on the code channel adopts true form, complement code, reflected code etc. usually.The mark quantity that this many code channels coding method is used is very big, and manufacturing cost is higher, when scrambler coordinate starting point and practical application coordinate starting point are inconsistent, and reading inconvenience, so range of application is restricted.
Summary of the invention
For solving the problem that prior art exists, the invention provides a kind of solid size road absolute position encoder method, only adopt a code channel of arranging the two-value mark according to particular order, reading the reading device of code channel mark arranges with ad hoc approach, when reading device integral body is mobile, the binary number of reading on diverse location that mark constituted has uniqueness, with this binary number is the address, in the look-up table of an establishment in advance, check in the coordinate figure of each position, can realize absolute fix along the code channel length direction.
When code channel is end to end, can realize along closed curve by length or angle absolute fix.The numerical value that changes in the look-up table can change the coordinate starting point of coding and the coordinate figure of each position.Absolute fix numerical value in the look-up table can be signless integer, signed integer, floating number or word marking, and any one two-value mark all can be used as start mark on the code channel.
Adopt solid size of the present invention road absolute position encoder only to need 1 code channel, simple in structure, be convenient to make, especially big or label size is greatly the time when the number of positions that needs to determine, and the effect that reduces cost is more obvious.Function by address lookup table has been arranged, and the starting point and the position coordinate value of output absolute location coordinates can be more flexible, and range of application is bigger.
The present invention relates to a kind of absolute position encoder method, its principle of work such as Fig. 1.Only adopt 1 code channel of forming by the two-value mark (1), the two-value mark that is read on the code channel by reading device (2) constitutes binary number, the reading device of arranging by a kind of reading position is when the code channel length direction moves, the binary number of reading on each position on the way has uniqueness, described binary number is corresponding with the coordinate figure (7) of reading device as address (6), then can realize along the absolute fix of code channel direction.Described code channel is end to end, can realize along closed curve by length or angle absolute fix.Described code channel mark configuration and read coupling that cell configuration forms whole address values that can guarantee to read device and read when code channel moves are had uniqueness, thereby can set up a look-up table (5), the binary address that makes each position undetermined read is monopolized one in table, the numerical value that changes in the look-up table can change the coordinate starting point of coding and the coordinate figure of each position, realizes the absolute fix function.Described two-value mark is described by 0 or 1, described two-value mark by the physical attribute that can distinguish to forming, can adopt printing opacity or light tight, two kinds of different colours, two kinds of different materials, raised or sunken, south magnetic pole or north magnetic pole, the number of two-value mark is decided according to the number of position undetermined.The reading position of described reading device is selected along the bearing of trend of code channel, reading position selected can be closely adjacent or closely not adjacent, uniformly-spaced or unequal interval, each selected reading position settles one to read device, and it is the logarithm of the code channel mark sum at the end that the number of reading device is no less than with 2.Adopt synchro reader (4) reading sync mark (3) or adopt the predictive filtering method to prevent from respectively to read device by the asynchronous error code that causes of mark boundaries, wherein sync mark guarantees that all read devices and cross mark boundaries fully, can confirm that the mark value of reading is effective.Coordinate values in the described look-up table can be signless integer, signed integer, floating number or literal, change the content of look-up table can code channel on any one mark position be set to reference position.
Fig. 2 has provided the code channel mark with Fig. 3 and has been in the binary address value of reading on the different relative positions with reading position, with its address as look-up table, can obtain meeting the coordinate figure of positioning requirements from look-up table.Among each figure the upper end represent the code channel mark with the black and white lattice, black square represents 1, white square represents 0, repeat picture 2 code channels so that represent the situation that it is end to end; Represent reading position moving with several rows below the code channel along the code channel direction, the continuous grid of each row is represented optional reading position, selected reading position marks with arrow, the space is represented not read in this position, and the grid that bottom line dots is represented repeating of the first row reading position.Fig. 2 represents closely adjacent situation of each reading position, and Fig. 3 then represents one of non-closely adjacent situation of read head.Provided the address value of reading on each position in the first row grid on the right side, the grid that bottom line dots represent first the row read repeating of address, the address value of reading on each position is unique as can be seen.In the look-up table block diagram that dotted line surrounds, the left side one row are address values, the right side one row are coordinate figure contents, when the look-up table among Fig. 2 is listed in 4 tight adjacent reading positions and reads 11 mark code channels, and the table content when the 8th mark played on a code channel left side as start mark; When the look-up table among Fig. 3 is listed in 4 non-tight adjacent reading positions and reads 16 mark code channels, the table content when the 1st mark played on a code channel left side as start mark.
Fig. 4 represents to realize one of mode of the present invention.5 cylindrical reading devices of representing of usefulness are arranged according to selected uniformly-spaced reading position in annular code channel top with 25 positions of 2 kinds of marks of black and white color showing, can rotate along the code channel circumferencial direction together, perhaps read the static and annular code channel of device around self symcenter rotation.Black line segment in the annular code channel circle is represented sync mark, align with each code channel mark center, when sync mark is read device and is read sync mark, illustrate that each code channel tag reader device crossed mark boundaries fully, the binary address value that read this moment is effective.The address value of constantly reading shown in the figure is 00110, and the output coordinate value that checks in from look-up table is 0.0; If code channel clockwise rotates, when reading next sync mark, the address value of reading is 01001, and the coordinate figure that checks in from look-up table is 14.4; If code channel rotates counterclockwise, when reading next sync mark, the address value of reading is 11001, and the coordinate figure that checks in from look-up table is-14.4.
Description of drawings
Fig. 1 is a principle of work synoptic diagram of the present invention.
Fig. 2 is 4 the address value and the output coordinate values of tabling look-up that tight adjacent reading device is read when the code channel that 11 marks are arranged moves.
Fig. 3 the address value and the output coordinate value of tabling look-up that to be 4 non-closely adjacent reading devices read when the code channel of 16 marks moves.
Fig. 4 is for realizing one of best way of the present invention.
Fig. 5 is for arranging the two-value mark, arranging that along code channel reading device and screening can produce each position and read the right computer programme flow diagram of qualified coupling that address value has uniqueness on code channel.
Embodiment
With the code channel that 11 marks are arranged and 4 a pair of couplings of reading device is that one of embodiment is described further.The reading device arranging method of selecting for use is that 4 reading devices are closely adjacent, first reading device is played on a left side be called the first position of reading.Along on the code channel of path extension 11 not isolabelings 0 and 1 being arranged, deployment scenarios is 00001010011, plays the 1st mark to timing when head reads the position with a code channel left side, represents that with double underline head reads the position, represents other reading position with single underscore, and distribution situation is
4 are read the mark value that device reads is binary address 0000; Play the 2nd mark to timing when head reads the position with a code channel left side, distribution situation is
Each mark value of reading that device reads is a binary address 0001; Play the 3rd mark to timing when head reads the position with a code channel left side, the mark value of reading is 0010, and the rest may be inferred.Play the 9th mark to timing when head reads the position with a code channel left side, consider that code channel is end to end, the distribution situation of reading device is
The mark value of reading is a binary address 0110.Play the 1st to the 11st mark to timing with a code channel left side successively from left to right when head reads the position, the binary address of reading is followed successively by 0000,0001,0010,0101,1010,0100,1001,0011,0110,1100 and 1000.
As seen, on the code channel total length, first to read the address value of reading when the position is in each diverse location be well-determined, and the address value of the appearance that can obtain circulating when code channel is end to end.Order according to address value occurs writes suitable positional value in the cell of look-up table, then can realize the absolute fix function.If with head read position and a code channel left side rise the 1st mark to timing as coordinate starting point 0, the coordinate figure of other position adopts natural number 1 to 10, then in the look-up table from the address 0000 to 1111 cell content should be for 0,1,2,7,5,3,8, x, 10,6,4, x, 9, x, x and x, wherein x represents not use this address.Because read device and can determine 16 mark positions at most for 4, when having only 11 positions undetermined in this example, will there be 5 addresses not to be used, wherein can place any value.If with head read on position and the code channel left side rise the 8th mark to timing as the coordinate starting point, then in the look-up table from the address 0000 to 1111 cell content should be for 4,5,6,0,9,7,1, x, 3,10,8, x, 2, x, x and x.If as the coordinate starting point, then each cell content of look-up table changes with m a left side m position mark to timing on head reading position and code channel.Adopt 4 tight adjacent reading devices to read the code channel of 11 marks, 11 kinds of look-up table contents can be arranged, all the look-up table content sees Table 1.The explanatory note of Fig. 2 and Fig. 2 has been done more intuitive explanation to this example.
Table 1
Get a pair of N=16 again, the coupling of n=4 is that example is described further.The pronunciation of selecting for use is to arrange to read device on head reads position and right-hand the 4th, the 6th and the 7th.Along on the code channel of path extension 16 not isolabelings 0 and 1 being arranged, when reading the position, head plays the 1st mark to timing with a code channel left side, represent that with double underline head reads the position, represent other reading position with single underscore, distribution situation is
4 are read the mark value that device reads is binary address 0000; Play the 2nd mark to timing when head reads the position with a code channel left side, distribution situation is
The mark value of reading is as binary address 0101; Play the 3rd mark to timing when head reads the position with a code channel left side, distribution situation is
The mark value of reading is as binary address 0010; Play the 15th mark to timing when head reads the position with a code channel left side, consider that code channel is end to end, the reading position distribution situation is
The mark value of reading is as binary address 1001; Play the 1st to the 16th mark to timing with a code channel left side successively from left to right when head reads the position, the binary address of reading is followed successively by 0000,0101,0010,0001,1111,0011,0110,1101,0111,1011,1110,1100,0100,1000,1001 and 1010.
As seen, on this specific code channel total length, reading with the reading device of this kind layout, also all is well-determined when head reads the address value of reading when the position is in each position of code channel, and the address value of the appearance that also can obtain circulating when code channel is end to end.Order according to address value occurs writes suitable positional value in the cell of look-up table, then can realize the absolute fix function.If with head read position and a code channel left side rise the 1st mark to timing as coordinate starting point A, the coordinate figure of other position adopts the capitalization English letter B to M of alphabetic order, and then 0000 to 1111 cell content should be A, D, C, F, M, B, G, I, N, O, P, J, L, H, K, E from the address in the look-up table.If as the coordinate starting point, then each cell content of look-up table changes with m a left side m position mark to timing on head reading position and code channel.Adopt the reading device of this kind layout to read the code channel of 16 marks, 16 kinds of look-up table contents can be arranged, all the look-up table contents see Table 2.The explanatory note of Fig. 3 and Fig. 3 has been done more intuitive explanation to this example.
Arrange that on diverse location 4 pronunciations of reading devices cooperate the code channel of 9 to 16 specific position marks, can produce manyly, can select for use as the case may be different couplings.The positional value that writes in the look-up table can be the signless integer according to big minispread, also can be signed integer, floating number or word marking.
Table 2
Get a pair of N=25 again, the coupling of n=5 is that example is described further.The pronunciation of selecting for use is to read the code channel mark on head reads position and right-hand the 6th, the 11st, the 16th and the 21st, promptly reads devices and uniformly-spaced arranges for 5.On the code channel that extends along the path 25 not isolabelings 0 and 1 are arranged, to the deployment scenarios of timing be when head reads the 1st mark in position and a code channel left side
5 are read the mark value that device reads is binary address 00110; Play the 2nd mark to timing when head reads the position with a code channel left side, distribution situation is
The mark value of reading is a binary address 01001; Play the 3rd mark to timing when head reads the position with a code channel left side, distribution situation is
The mark value of reading is a binary address 10111; Play the 21st mark to timing when head reads the position with a code channel left side, consider that code channel is end to end, the reading position distribution situation is
The mark value of reading is a binary address 00011; Play the 1st to the 25th mark to timing with a code channel left side successively from left to right when head reads the position, the binary address value of reading is followed successively by 00110,01001,10111,01000,10011,01100,10010,01111,10000,00111,11000,00101,11110,00001,01110,10001,01010,11101,00010,11100,00011,10100,11011,00100 and 11001.
As seen, on this specific code channel total length, the reading device of uniformly-spaced arranging with this kind is read, and also is well-determined when head reads the address value of reading when the position is in each position of code channel, and the address value of the appearance that also can obtain circulating when code channel is end to end.Order according to address value occurs writes suitable positional value in the cell of look-up table, then can realize the absolute fix function.If with head read position and a code channel left side rise the 1st mark to timing as coordinate starting point 0.0, the coordinate figure employing increment of other position is 14.4 arithmetic progression, then the cell content from binary address 00000 to 11111 should constitute the number of degrees coordinate of 25 Equal round round angles as table 3 in the look-up table.If as the coordinate starting point, then each cell content of look-up table changes with m a left side m position mark to timing on head reading position and code channel.Adopt 5 equally spaced reading devices of this kind to read the code channel of 25 marks, 25 kinds of look-up table contents can be arranged, all the building method of look-up table contents and table 1, table 2 are identical.The explanatory note of Fig. 4 and Fig. 4 has been done more intuitive explanation to this example.
Table 3
| The address | Content | The address | Content | The address | Content | The address | Content |
| ?00000 | ??x | ?01000 | ??43.2 | ?10000 | ????115.2 | ?11000 | ????144.0 |
| ?00001 | ??-172.8 | ?01001 | ??14.4 | ?10001 | ????-144.0 | ?11001 | ????-14.4 |
| ?00010 | ??-100.8 | ?01010 | ??-129.6 | ?10010 | ????86.4 | ?11010 | ????x |
| ?00011 | ??-72.0 | ?01011 | ??x | ?10011 | ????57.6 | ?11011 | ????-43.2 |
| ?00100 | ??-28.8 | ?01100 | ??72.0 | ?10100 | ????-57.6 | ?11100 | ????-86.4 |
| ?00101 | ??158.4 | ?01101 | ??x | ?10101 | ????x | ?11101 | ????-115.2 |
| ?00110 | ??0.0 | ?01110 | ??-158.4 | ?10110 | ????x | ?11110 | ????172.8 |
| ?00111 | ??129.6 | ?01111 | ??100.8 | ?10111 | ????28.8 | ?11111 | ????x |
On code channel, arrange the two-value mark, arrange that along code channel reading device and screening can produce each position and read right computer programme flow diagram such as Fig. 5 of qualified coupling that address value has uniqueness.
Claims (7)
1. absolute position encoder method, it is characterized in that: only adopt 1 code channel of forming by the two-value mark, constitute binary number by the two-value mark of reading on the device readout code road, the reading device of arranging by a kind of reading position is when the code channel length direction moves, the binary number of reading on each position on the way has uniqueness, described binary number is corresponding with the coordinate figure of reading device as the address, then can realize along the absolute fix of code channel direction.
2. coding method according to claim 1 is characterized in that: described code channel is end to end, can realize along closed curve by length or angle absolute fix.
3. coding method according to claim 1 and 2, it is characterized in that: described code channel mark configuration and read coupling that cell configuration forms whole address values that can guarantee to read device and read when code channel moves are had uniqueness, thereby can set up a look-up table, the binary address that makes each position undetermined read is monopolized one in table, the numerical value that changes in the look-up table can change the coordinate starting point of coding and the coordinate figure of each position, realizes the absolute fix function.
4. coding method according to claim 1 and 2, it is characterized in that: described two-value mark is described by 0 or 1, described two-value mark by the physical attribute that can distinguish to forming, can adopt printing opacity or light tight, two kinds of different colours, two kinds of different materials, raised or sunken, south magnetic pole or north magnetic pole, the number of two-value mark is decided according to the number of position undetermined.
5. coding method according to claim 1 and 2, it is characterized in that: the reading position of described reading device is selected along the bearing of trend of code channel, reading position selected can be closely adjacent or closely not adjacent, uniformly-spaced or unequal interval, each selected reading position settles one to read device, and it is the logarithm of the code channel mark sum at the end that the number of reading device is no less than with 2.
6. coding method according to claim 1 and 2, it is characterized in that: adopt sync mark or predictive filtering method to prevent from respectively to read device by the asynchronous error code that causes of mark boundaries, wherein sync mark guarantees that all read devices and cross mark boundaries fully, can confirm that the mark value of reading is effective.
7. coding method according to claim 3, it is characterized in that: the coordinate values in the described look-up table can be signless integer, signed integer, floating number or literal, change the content of look-up table can code channel on any one mark position be set to reference position.
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| CN 200410009539 CN1292228C (en) | 2004-09-10 | 2004-09-10 | Method for encoding absolute position |
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| CN 200410009539 CN1292228C (en) | 2004-09-10 | 2004-09-10 | Method for encoding absolute position |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1312457C (en) * | 2005-07-06 | 2007-04-25 | 北京交通大学 | Absolute position mark method for rail line |
| CN101614558A (en) * | 2008-06-23 | 2009-12-30 | 施乐公司 | Encoder home position signal processing method and system |
| CN102062615A (en) * | 2010-08-27 | 2011-05-18 | 中国科学院长春光学精密机械与物理研究所 | Position coding method of single-code channel |
| CN103017803A (en) * | 2011-09-27 | 2013-04-03 | 常州科教城新能源汽车工程技术研究院 | Coded disc for encoders |
| CN110879075A (en) * | 2019-11-08 | 2020-03-13 | 杭州电子科技大学 | High-resolution incremental code channel detection method |
| CN110954145A (en) * | 2019-12-10 | 2020-04-03 | 杭州慧灵控制工程有限公司 | Detection device and method for incremental code channel |
| CN111780697A (en) * | 2020-07-14 | 2020-10-16 | 惠州市奥普康真空科技有限公司 | Multi-position crucible positioning method and positioning system |
-
2004
- 2004-09-10 CN CN 200410009539 patent/CN1292228C/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1312457C (en) * | 2005-07-06 | 2007-04-25 | 北京交通大学 | Absolute position mark method for rail line |
| CN101614558A (en) * | 2008-06-23 | 2009-12-30 | 施乐公司 | Encoder home position signal processing method and system |
| CN101614558B (en) * | 2008-06-23 | 2013-07-10 | 施乐公司 | Encoder home position signal processing method and system |
| CN102062615A (en) * | 2010-08-27 | 2011-05-18 | 中国科学院长春光学精密机械与物理研究所 | Position coding method of single-code channel |
| CN102062615B (en) * | 2010-08-27 | 2012-07-25 | 中国科学院长春光学精密机械与物理研究所 | Position coding method of single-code channel |
| CN103017803A (en) * | 2011-09-27 | 2013-04-03 | 常州科教城新能源汽车工程技术研究院 | Coded disc for encoders |
| CN110879075A (en) * | 2019-11-08 | 2020-03-13 | 杭州电子科技大学 | High-resolution incremental code channel detection method |
| CN110879075B (en) * | 2019-11-08 | 2021-06-22 | 杭州电子科技大学 | High-resolution incremental code channel detection method |
| CN110954145A (en) * | 2019-12-10 | 2020-04-03 | 杭州慧灵控制工程有限公司 | Detection device and method for incremental code channel |
| CN111780697A (en) * | 2020-07-14 | 2020-10-16 | 惠州市奥普康真空科技有限公司 | Multi-position crucible positioning method and positioning system |
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