JP2012220460A - エンコーダ - Google Patents
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- JP2012220460A JP2012220460A JP2011089795A JP2011089795A JP2012220460A JP 2012220460 A JP2012220460 A JP 2012220460A JP 2011089795 A JP2011089795 A JP 2011089795A JP 2011089795 A JP2011089795 A JP 2011089795A JP 2012220460 A JP2012220460 A JP 2012220460A
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- 238000001514 detection method Methods 0.000 claims abstract description 72
- 238000012545 processing Methods 0.000 claims abstract description 47
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- 238000003491 array Methods 0.000 claims description 3
- 239000011295 pitch Substances 0.000 description 47
- 230000000737 periodic effect Effects 0.000 description 18
- 238000004364 calculation method Methods 0.000 description 13
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- 230000002093 peripheral effect Effects 0.000 description 5
- 238000012937 correction Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
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- 238000005259 measurement Methods 0.000 description 3
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- 230000008901 benefit Effects 0.000 description 2
- 230000002123 temporal effect Effects 0.000 description 2
- 238000012935 Averaging Methods 0.000 description 1
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Classifications
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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
- G01D5/34746—Linear encoders
-
- 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
-
- 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
- G01D5/34715—Scale reading or illumination devices
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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
- G01D5/34776—Absolute encoders with analogue or digital scales
- G01D5/34792—Absolute encoders with analogue or digital scales with only digital scales or both digital and incremental scales
- G01D5/34794—Optical encoders using the Vernier principle, i.e. incorporating two or more tracks having a (n, n+1, ...) relationship
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- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03M—CODING; DECODING; CODE CONVERSION IN GENERAL
- H03M1/00—Analogue/digital conversion; Digital/analogue conversion
- H03M1/12—Analogue/digital converters
- H03M1/14—Conversion in steps with each step involving the same or a different conversion means and delivering more than one bit
- H03M1/143—Conversion in steps with each step involving the same or a different conversion means and delivering more than one bit in pattern-reading type converters, e.g. having both absolute and incremental tracks on one disc or strip
-
- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03M—CODING; DECODING; CODE CONVERSION IN GENERAL
- H03M1/00—Analogue/digital conversion; Digital/analogue conversion
- H03M1/12—Analogue/digital converters
- H03M1/22—Analogue/digital converters pattern-reading type
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Optical Transform (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
Abstract
【解決手段】エンコーダにおいて、パターン列は、移動方向であるX方向に垂直なY方向に周期的に配列されたX方向に第1の変調周期P1と第2の変調周期P2を有する。信号処理手段30は、受光素子アレイの出力からピッチP1の位相を取得する第1の位相取得手段32を有する。エンコーダは、領域23を検出する複数の受光素子17Aの出力信号に対して受光素子アレイ上の位置に応じた重みを使用して重み付けをし、重みは、第1の位相取得手段の空間周波数応答のピッチP2に対応する空間周波数を含む所定の範囲において、重み付け有の値が重み付け無の値以下となるように設定されている。
【選択図】図1
Description
Claims (9)
- エネルギー分布を空間変調する複数のパターンを有するパターン列が形成されているスケールと、
前記スケールに相対的に移動するように配置され、前記パターン列からの前記エネルギー分布を検出する複数の検出素子が移動方向に並べられた検出素子アレイと、
前記検出素子アレイの出力信号を処理して位置情報に変換する信号処理手段と、
を有するエンコーダにおいて、
前記パターン列は、前記移動方向に第1の変調周期と、前記第1の変調周期とは異なる第2の変調周期を有し、
前記信号処理手段は、前記検出素子アレイの出力信号から前記第1の変調周期の第1の位相を取得する第1の位相取得手段を有し、
前記エンコーダは、前記第1の変調周期を検出する複数の検出素子の出力信号に対して前記検出素子アレイの位置に応じた重みを使用して重み付けをする重み付け手段を更に有し、
前記重みは、前記第1の位相取得手段の空間周波数応答の前記第2の変調周期に対応する空間周波数を含む所定の範囲において、前記重み付け手段が重み付けを行った場合の値が、重み付けが無い場合の値以下となるように設定されていることを特徴とするエンコーダ。 - 前記重み付け手段は、前記第1の変調周期を検出する前記複数の検出素子の受光面の面積を前記検出素子アレイの位置に応じて異ならせることであることを特徴とする請求項1に記載のエンコーダ。
- 前記重み付け手段は、前記第1の変調周期を検出する前記複数の検出素子の電気的ゲインを前記検出素子アレイの位置に応じて異ならせることであることを特徴とする請求項1に記載のエンコーダ。
- 前記パターン列は、前記移動方向に垂直な方向に周期的に配列され、前記移動方向に第1のピッチを有する第1の領域と、前記移動方向に前記第1のピッチとは異なる第2のピッチを第2の領域と、を有し、前記第1の変調周期は前記第1の領域のエネルギー分布に対応し、前記第2の変調周期は前記第2の領域のエネルギー分布に対応することを特徴とする請求項1〜3のうちいずれか1項に記載のエンコーダ。
- 前記信号処理手段は、
前記検出素子アレイの出力信号から前記第2の変調周期の第2の位相を取得する第2の位相取得手段と、
前記第1の位相取得手段が取得した前記第1の位相と、前記第2の位相取得手段が取得した前記第2の位相と、
|(m・P1−n・P2)|<|(P1−P2)|
の条件を満たす整数m、nに対し、
A/B=n/m
の関係を満たす2つの係数A、Bを用いて次式を満たすSvを前記スケールの位置を表す位置信号として取得する位置情報取得手段と、
を有することを特徴とする請求項1〜4のうちいずれか1項に記載のエンコーダ。
Sv=A・Φ1−B・Φ2
但し、Φ1は前記第1の位相、Φ2は前記第2の位相、P1は前記第1の変調周期、P2は前記第2の変調周期である。 - 前記信号処理手段は、前記検出素子アレイの出力を前記パターンの各変調周期に対応する信号に分離する信号分離手段を更に有することを特徴とする請求項1〜5のうちいずれか1項に記載のエンコーダ。
- 前記信号分離手段は、前記複数の検出素子の電気的に加算される間隔を切り替えることを特徴とする請求項6に記載のエンコーダ。
- 前記信号分離手段は、前記検出素子アレイの出力信号に高速フーリエ変換を施すことを特徴とする請求項6に記載のエンコーダ。
- 前記複数の検出素子は、
前記第1の位相取得手段に出力を与える複数の第1の検出素子と、
前記第2の位相取得手段に出力を与える複数の第2の検出素子と、
を有し、
前記第1の位相取得手段と前記第2の位相取得手段は前記複数の検出素子から同時に出力を取得することを特徴とする請求項1〜5のうちいずれか1項に記載のエンコーダ。
Priority Applications (3)
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JP2011089795A JP5755010B2 (ja) | 2011-04-14 | 2011-04-14 | エンコーダ |
EP12163899.3A EP2511670B1 (en) | 2011-04-14 | 2012-04-12 | Encoder |
US13/446,153 US9354089B2 (en) | 2011-04-14 | 2012-04-13 | Encoder |
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JP2011089795A JP5755010B2 (ja) | 2011-04-14 | 2011-04-14 | エンコーダ |
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JP2012220460A true JP2012220460A (ja) | 2012-11-12 |
JP5755010B2 JP5755010B2 (ja) | 2015-07-29 |
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JP2011089795A Active JP5755010B2 (ja) | 2011-04-14 | 2011-04-14 | エンコーダ |
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US (1) | US9354089B2 (ja) |
EP (1) | EP2511670B1 (ja) |
JP (1) | JP5755010B2 (ja) |
Cited By (8)
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JP2014190905A (ja) * | 2013-03-28 | 2014-10-06 | Canon Inc | 位置検出手段 |
JP2015055617A (ja) * | 2013-09-13 | 2015-03-23 | キヤノン株式会社 | エンコーダおよびこれを用いた装置 |
JP2015187605A (ja) * | 2014-03-14 | 2015-10-29 | キヤノンプレシジョン株式会社 | エンコーダ |
JP2016118416A (ja) * | 2014-12-19 | 2016-06-30 | キヤノン株式会社 | 位置検出装置、レンズ装置、撮像システム、工作装置、位置検出方法、プログラム、および、記憶媒体 |
JP2018530751A (ja) * | 2015-09-09 | 2018-10-18 | レニショウ パブリック リミテッド カンパニーRenishaw Public Limited Company | エンコーダ装置 |
JP2019012064A (ja) * | 2017-06-29 | 2019-01-24 | 株式会社ミツトヨ | 光学式エンコーダ |
JP2020027100A (ja) * | 2018-08-17 | 2020-02-20 | アイオロス ロボティクス コーポレーション リミテッドAeolus Robotics Corporation Limited | 光学式エンコーダおよびその動作方法 |
US11085799B2 (en) | 2018-09-14 | 2021-08-10 | Canon Kabushiki Kaisha | Position detection apparatus that detects a position of an object by detecting light from a scale, and lithography apparatus, force sensor, and apparatus having force sensor including the position detection apparatus |
Families Citing this family (8)
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JP5379761B2 (ja) * | 2010-08-06 | 2013-12-25 | キヤノン株式会社 | アブソリュートエンコーダ |
JP6032924B2 (ja) | 2011-04-13 | 2016-11-30 | キヤノン株式会社 | エンコーダ |
JP5755009B2 (ja) | 2011-04-14 | 2015-07-29 | キヤノン株式会社 | エンコーダ |
JP5791340B2 (ja) | 2011-04-14 | 2015-10-07 | キヤノン株式会社 | エンコーダ |
JP5932285B2 (ja) * | 2011-10-14 | 2016-06-08 | キヤノン株式会社 | エンコーダおよびこれを備えた装置 |
EP2725325B1 (de) * | 2012-10-26 | 2019-12-11 | Robert Bosch Gmbh | Positionsmesssystem |
JP6138664B2 (ja) * | 2013-10-30 | 2017-05-31 | オークマ株式会社 | 光学式エンコーダ |
JP6373457B1 (ja) | 2017-06-20 | 2018-08-15 | キヤノンプレシジョン株式会社 | エンコーダおよびこれを用いた撮像装置 |
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2011
- 2011-04-14 JP JP2011089795A patent/JP5755010B2/ja active Active
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JP2014190905A (ja) * | 2013-03-28 | 2014-10-06 | Canon Inc | 位置検出手段 |
JP2015055617A (ja) * | 2013-09-13 | 2015-03-23 | キヤノン株式会社 | エンコーダおよびこれを用いた装置 |
JP2015187605A (ja) * | 2014-03-14 | 2015-10-29 | キヤノンプレシジョン株式会社 | エンコーダ |
JP2016118416A (ja) * | 2014-12-19 | 2016-06-30 | キヤノン株式会社 | 位置検出装置、レンズ装置、撮像システム、工作装置、位置検出方法、プログラム、および、記憶媒体 |
JP2018530751A (ja) * | 2015-09-09 | 2018-10-18 | レニショウ パブリック リミテッド カンパニーRenishaw Public Limited Company | エンコーダ装置 |
JP2019012064A (ja) * | 2017-06-29 | 2019-01-24 | 株式会社ミツトヨ | 光学式エンコーダ |
JP2020027100A (ja) * | 2018-08-17 | 2020-02-20 | アイオロス ロボティクス コーポレーション リミテッドAeolus Robotics Corporation Limited | 光学式エンコーダおよびその動作方法 |
JP7450902B2 (ja) | 2018-08-17 | 2024-03-18 | アイオロス ロボティクス コーポレーション リミテッド | 光学式エンコーダの動作方法 |
US11085799B2 (en) | 2018-09-14 | 2021-08-10 | Canon Kabushiki Kaisha | Position detection apparatus that detects a position of an object by detecting light from a scale, and lithography apparatus, force sensor, and apparatus having force sensor including the position detection apparatus |
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Publication number | Publication date |
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US20120265484A1 (en) | 2012-10-18 |
EP2511670A2 (en) | 2012-10-17 |
EP2511670A3 (en) | 2014-08-20 |
JP5755010B2 (ja) | 2015-07-29 |
EP2511670B1 (en) | 2019-04-10 |
US9354089B2 (en) | 2016-05-31 |
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