JP7450902B2 - 光学式エンコーダの動作方法 - Google Patents
光学式エンコーダの動作方法 Download PDFInfo
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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
- G01D5/34776—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
-
- 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
- G01D5/3473—Circular or rotary 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
- G01D5/12—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 using electric or magnetic means
- G01D5/244—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 using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
- G01D5/24471—Error correction
- G01D5/2448—Correction of gain, threshold, offset or phase control
-
- 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
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Optical Transform (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
Description
本開示は、概略的には装置ならびにその位置及び移動をセンサ装置を使用して検出するための方法に関し、より詳細には、装置ならびにその位置および移動を光学式エンコーダセンサを使用して検出するための方法に関する。
光学式エンコーダは、様々な用途で有用である。例えば、アブソリュートエンコーダを、物理的な位置をそのような位置に対応する電気信号へと変換することにより、物体の位置、移動または角度を判定するために使用することが可能である。(ロボットアームなどの)比較回転機構においては、アブソリュートエンコーダが、コード板上に形成された(バーコードなどの)所定のパターンを読み取るかまたは検出するため、および回転機構の絶対位置を示す信号を生成するためのセンサを有する。しかし、アブソリュートエンコーダの老朽化または劣化のために、コード板とセンサとの間の距離が変化し、この結果、捕捉された画像に(焦点ずれやぶれなどの)ひずみまたは歪みが生じる場合がある。このことが、アブソリュートエンコーダによって検出される位置、移動または角度の精度を損なうおそれがある。
Claims (3)
- 物体の位置を判定するための方法であって、
(a)前記物体に接続された、第1波形と関連付けられている第1コードセット、第2波形と関連付けられている第2コードセット、第3波形と関連付けられている第3コードセットおよび第4波形と関連付けられている第4コードセットを有するパターンをその上に有するコード板上の画像を取得することと、
(b)センサによって取得された前記画像を前記第1波形、前記第2波形、前記第3波形および前記第4波形へと変換することと、
(c)前記第1波形と前記第2波形との間の第1の位相差、前記第2波形と前記第3波形との間の第2の位相差、および前記第3波形と前記第4波形との間の第3の位相差を算出することと、
(d)前記第1の位相差、前記第2の位相差および前記第3の位相差を、第1の数字、第2の数字および第3の数字に変換することと、
(e)一連の前記第1の数字、前記第2の数字および前記第3の数字に基づいて、前記物体の前記位置を判定することと、
を含む方法。 - 前記第1コードセットが複数の第1の白色部分を含み、
前記第2コードセットが複数の第2の白色部分を含み、
前記複数の第1の白色部分のそれぞれと前記複数の第2の白色部分のそれぞれとは物理的に隔てられている、請求項1に記載の方法。 - 前記第1コードセットが複数の第1の白色部分を含み、
前記複数の第1の白色部分は一方向に沿って配置されており、前記複数の第1の白色部分のそれぞれは前記一方向に細長い、請求項1に記載の方法。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US16/104,770 US10775203B2 (en) | 2018-08-17 | 2018-08-17 | Optical encoder and method of operating the same for converting image of a portion of a pattern of codes into waveforms |
US16/104,770 | 2018-08-17 |
Publications (3)
Publication Number | Publication Date |
---|---|
JP2020027100A JP2020027100A (ja) | 2020-02-20 |
JP2020027100A5 JP2020027100A5 (ja) | 2021-11-18 |
JP7450902B2 true JP7450902B2 (ja) | 2024-03-18 |
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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JP2019017713A Active JP7450902B2 (ja) | 2018-08-17 | 2019-02-04 | 光学式エンコーダの動作方法 |
Country Status (5)
Country | Link |
---|---|
US (1) | US10775203B2 (ja) |
EP (1) | EP3611477A1 (ja) |
JP (1) | JP7450902B2 (ja) |
CN (1) | CN110836678A (ja) |
TW (1) | TW202009448A (ja) |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2004529344A (ja) | 2001-04-11 | 2004-09-24 | レニショウ パブリック リミテッド カンパニー | アブソリュート位置測定法 |
US20070051884A1 (en) | 2005-09-07 | 2007-03-08 | Romanov Nikolai L | Positional sensing system and method |
JP2011226965A (ja) | 2010-04-21 | 2011-11-10 | Nikon Corp | エンコーダ及びエンコーダの位置検出方法 |
JP2012220460A (ja) | 2011-04-14 | 2012-11-12 | Canon Inc | エンコーダ |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0267916A (ja) * | 1988-09-02 | 1990-03-07 | Yamaha Corp | アブソリュートエンコーダ |
DE10332413B3 (de) * | 2003-07-16 | 2005-04-28 | Ic Haus Gmbh | Positionsmessvorrichtung zum Ermitteln von Winkel- oder Längenpositionen |
EP2477006A1 (en) * | 2011-01-17 | 2012-07-18 | Thomas Baader | High resolution absolute linear encoder |
JP6308739B2 (ja) * | 2013-08-29 | 2018-04-11 | キヤノン株式会社 | 位置検出装置及びそれを有するレンズ装置、画像読取装置及び画像形成装置 |
-
2018
- 2018-08-17 US US16/104,770 patent/US10775203B2/en active Active
- 2018-12-26 CN CN201811601203.0A patent/CN110836678A/zh active Pending
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2019
- 2019-02-04 JP JP2019017713A patent/JP7450902B2/ja active Active
- 2019-03-11 TW TW108107989A patent/TW202009448A/zh unknown
- 2019-07-08 EP EP19184872.0A patent/EP3611477A1/en not_active Withdrawn
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2004529344A (ja) | 2001-04-11 | 2004-09-24 | レニショウ パブリック リミテッド カンパニー | アブソリュート位置測定法 |
US20070051884A1 (en) | 2005-09-07 | 2007-03-08 | Romanov Nikolai L | Positional sensing system and method |
JP2011226965A (ja) | 2010-04-21 | 2011-11-10 | Nikon Corp | エンコーダ及びエンコーダの位置検出方法 |
JP2012220460A (ja) | 2011-04-14 | 2012-11-12 | Canon Inc | エンコーダ |
Also Published As
Publication number | Publication date |
---|---|
TW202009448A (zh) | 2020-03-01 |
CN110836678A (zh) | 2020-02-25 |
US20200056906A1 (en) | 2020-02-20 |
US10775203B2 (en) | 2020-09-15 |
EP3611477A1 (en) | 2020-02-19 |
JP2020027100A (ja) | 2020-02-20 |
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