JPH0599707A - Method and device for generating timing signal - Google Patents

Abstract

PURPOSE:To express the variation of a physical quantity by means of the number of timing signals by generating one timing signal whenever the variation measured value of the physical quantity increases or decreases by a numerical value corresponding to a preset reference value. CONSTITUTION:A converter 1 converts a physical quantity into a corresponding measured value and outputs the measured value as a measured value signal 6. A holder 2 holds the level of the signal 6 from the converter 1 at the moment the output timing signal 9 of a differentiator 4 is inputted and outputs the held level as an output signal 7. A comparator 3 compares the signals 6 and 7 wit each other and, when the signal 6 becomes larger than the signal by a preset reference value, outputs an output timing signal 8. The differentiator 4 outputs the timing signal 9 upon detecting the signal 8. The signal 9 is inputted to, for example, an external counter and, at the same time, acts as a timing signal for replacing the level of the signal 6 held by the holder 2 with the then level of the signal 6.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a technique for generating a timing signal according to a change in a physical quantity, for example, a position or an angle, and more specifically, as electrical information representing a number of timing signals proportional to the change in the physical quantity. And a method and apparatus for generating an electrical pulse signal,
By counting this timing signal, the amount of change, for example, the amount of displacement or movement can be detected.

[0002]

2. Description of the Related Art As a device for generating an electric pulse signal in response to a change in position or angle, there is a device called an encoder. This encoder has a rotary encoder and a linear encoder. The rotary encoder is a rotary type and generates a timing signal according to a change in angle. The linear encoder is a straight type and generates a number of timing signals according to a displacement distance. Is. In either case, graduations are made at regular intervals in the displacement direction, and electric signals (pulses) are generated at the positions of the graduations that have been passed by the displacement, as many as the graduations.

The graduations are made by using gear-shaped irregularities and mechanical opening and closing of contacts by springs, by drawing a comb-like conductive pattern on the plane, and by optical reflectance or transmittance. There are various methods such as a method of drawing different patterns, and a method of drawing patterns by magnetically changing the strength or direction of magnetization.

A feature common to these prior arts is that the scales are fixedly drawn at equal intervals. In many applications, it is necessary that the position of the scale be fixed in order to ensure stable and repeatable operation for devices and systems that use these encoders. In the rotary encoder, the number of scales for one rotation is an integer in order to obtain continuity over multiple rotations or 360 degrees or more.

[0005]

The conventional encoder has the following problems. (1) The resolution is fixed. That is, with one rotary encoder, the number of pulses per one rotation or per constant operation amount is fixed at the time of manufacture. When giving a constant displacement to a system that has a controlled object that causes a change proportional to the number of input pulses, when moving the controlled object from the beginning to the target position, operate as quickly and smoothly as possible Is desired. Here, using an encoder with high resolution,
From the initial position to near the target position, the encoder can be moved quickly and largely by giving a small amount of operation to the encoder. However, because a large amount of movement occurs with a small amount of operation, when attempting final positioning, the movement is too fast, or the movement unit is too coarse, and it is difficult to indicate the target position, and there is a possibility that it will go too far. There is also a risk of collision if it is a mechanical device. Therefore, a fine operation is required to position the controlled object at a target position with high accuracy, but this is not easy and the operability is poor. On the other hand, if an encoder with low resolution is used, final positioning can be performed with rough operation, but if a large displacement is desired, the amount of operation is large and rapid movement cannot be expected, and operability is also poor. In this way, when the encoder is actually used, it is necessary to obtain a large displacement quickly (a high-density pulse is required) and a fine displacement is required (a low-density pulse with high timing accuracy is required). ) There are conflicting requirements. Since the resolution of the conventional encoder is fixed, it is not possible to meet such a request, and an intermediate resolution is selected according to the application, but the operability is poor.

(2) In order to eliminate the above-mentioned disadvantage that the resolution is constant, the following method has been conventionally proposed, but this also has a problem. a) A method of multiplying the number of pulses. In other words, a method has been proposed in which the pulse output from the rotary encoder is multiplied by an integer multiple in an electronic circuit to increase the apparent pulse density, but the multiplied pulse train has no continuity and the displacement of the encoder is smooth. Even if the number of pulses is increased or decreased, the multiplied pulse train is output in the form of a dumpling, and when the machine is moved, it causes jerky movements or vibrations. b) A method of dividing the number of pulses. That is, it is a method of dividing the pulse train output by the rotary encoder into integers to reduce the pulse density. However, this method has a drawback that the frequency division ratio is limited to an integer, and a mechanism (electronic circuit) for pulse frequency division is required in addition to a more expensive high resolution encoder.

(3) Since the pattern of the pulse to be generated is fixedly graduated in advance, chattering (in the case of the optical type, it is unstable between the two states of the portion that reflects light and the portion that does not reflect light). Output a wrong pulse train)
Cause Therefore, when the drive unit of the encoder slightly vibrates near the boundary of the scale during low speed operation or at rest, the vibration causes the pulse train to reciprocate between two states. This pulse train is not originally assumed in a system incorporating an encoder, and it is often a pulse train that is faster than the pulse train normally generated by the encoder, which may cause the system to malfunction.

[0008]

According to the present invention, a change amount of a physical quantity, for example, a change amount (displacement amount) of a position or an angle is converted into a corresponding electric quantity, for example, a voltage (analog amount), which is further converted into a numerical value ( A digital value) is converted (A / D conversion) to obtain a measurement value, and one timing signal is generated each time the measurement value increases or decreases by a numerical value corresponding to a preset reference or unit quantity. Then, the change amount of the physical quantity can be represented by the number of the timing signals.

That is, FIG. 2 plots the output 6x of the physical quantity-voltage converter (primary conversion unit) with the displacement as the target physical quantity on the X-axis and the voltage on the Y-axis. Each time the output 6x increases or decreases by a preset reference amount R, one timing signal 9 is output, and the amount of increase or decrease of the physical amount is represented by the number of timing signals. By changing the size of the reference amount R, the density or the generation interval (resolution) of the timing signal 9 with respect to the unit change amount of the physical amount can be freely changed.

(1) Method In the method of the present invention, one timing signal is generated each time the measured physical quantity changes by a predetermined reference quantity, and the measured physical quantity is represented by the number of generated timing signals. , The physical quantity measurement value at each timing signal generation time is stored and held, and one timing signal is generated every time the physical quantity measurement value changes by a predetermined reference value with respect to the stored storage value, and the physical quantity measurement at that time point is performed. It is characterized in that the number of timing signals according to the amount of change is generated by repeating the operation of storing and holding the value instead of the previous stored value. The amount of change can be known by counting the number of output timing signals, and the resolution can be changed by changing the generation interval or density of the output timing signals by changing the reference value.
The change of the physical quantity may be performed in either the positive or negative direction.

(2) Device The device of the present invention has the following four basic configurations. The first configuration is as follows: a) A primary conversion unit that converts and outputs a physical quantity into a corresponding electric quantity, and a second conversion unit that outputs an analog quantity output electric quantity from this primary conversion section to a digital quantity measurement value. Conversion means comprising at least one converter having a next conversion part; and b) holding means for storing and holding the output measurement value at that time each time the output measurement value of the conversion means changes by a predetermined reference value. And c) comparing the memory holding value of the holding means with the output measured value of the converting means, and outputting one timing signal when the difference between the output measured value and the memory held value reaches the reference value. Timing signal generating means, and d) means for applying the output timing signal to the holding means and replacing the stored value held therein by the output measured value of the converting means at that time point.

According to a second structure, in the first structure, the conversion means is composed of a plurality of converters that perform a response conversion operation in different ranges of the same target physical quantity and output corresponding measurement values. The output measured value of is compared with a predetermined limit value, and the output measured value is sequentially switched from the converter whose output measured value has reached the predetermined limit value to the converter whose output measured value has not reached the limit value. It is characterized in that a means for selecting an output timing signal from the timing signal generating means based on an output measurement value of the converter which does not reach the limit value is additionally provided.

A third configuration is the same as the first configuration, except that the difference between the output measured value and the held value caused by the change in the output measured value in one direction and the opposite direction is generated by the timing signal generating means. 1 when each value is reached
It is characterized in that it is configured to output a single timing signal.

According to a fourth configuration, in the second configuration, the timing signal generating means causes the difference between the output measured value and the held value caused by the change in the output measured value in one direction and the opposite direction to be the reference value. 1 when each value is reached
It is characterized in that it is configured to output a single timing signal.

The fifth configuration is as follows: a) A primary conversion section for converting and outputting a physical quantity into a corresponding electric quantity, and an analog quantity output electric quantity from this primary conversion section is converted and output as a digital quantity measurement value. A conversion means comprising at least one converter having a secondary conversion part for: b) storing and holding the output measurement value at that time every time the output measurement value of the conversion means changes by a predetermined reference value. A holding function for comparing the memory holding value by the holding function with the output measured value of the converting means, and outputs one timing signal when the difference between the output measured value and the memory held value reaches the reference value. And a storage program control means for responding to the output timing signal and for replacing the stored value with the output measurement value of the conversion means at that time. And it features.

[0016]

In the first configuration, the primary conversion unit of the converter operates in response to a change in physical quantity, for example, position, and converts the displacement into a corresponding electric quantity, for example, voltage, and the secondary conversion unit further The voltage is converted into a corresponding numerical value and is given to the holding means as an output measured value. The holding means holds the measured value stepwise every time the input measured value changes by the reference value. The timing signal generating means compares the measured value held in the holding means with the measured value from the converting means, outputs one timing signal each time the difference between the two reaches a reference value, and outputs this timing signal. It is also given to the holding means and replaced with the holding value up to that time, and the output measured value from the converting means at that time is newly stored and held. The timing signal from the timing signal generating means is output to the output terminal, counted by an external counter, and the magnitude of the displacement can be represented by the counted value.

The second configuration is a system in which a plurality of systems of the first configuration are arranged in parallel, and when the change of the physical quantity exceeds the change range that can be dealt with by the conversion means of one system, the system is switched to the next system and the same. The operation continues.

The third configuration deals with the case where the change of the physical quantity occurs in the two directions of forward and reverse, and if the output timing signals of the two timing signal generating means are added, the total value of the displacement in the forward and reverse directions is obtained. Further, the displacement from the reference position can be represented by subtracting the timing signal of the timing signal generating means due to the displacement in the negative direction from the output timing signal of the timing signal generating means due to the displacement in the positive direction.

The fourth structure is a combination of the second structure and the third structure, and the operations of these two structures can be performed.

On the other hand, in each of the first to fourth configurations, the physical quantity-equivalent measured value obtained by the converting means is processed by the means for holding, comparing, replacing, and generating a timing signal according to the operation procedure of the wiring logic control system. In the fifth configuration, the measured value is processed by a storage program control method such as an electronic calculator or digital signal processing (DSP), and the same function as each of the first to fourth configurations is realized.

In either configuration, the interval or density of the timing signal output is changed by changing the predetermined reference value of the output measurement value of the converting means, and thus,
The resolution of the device can be changed. Further, when the rate of change of the measured physical quantity, and thus the rate of change of the output measurement value of the conversion means is less than or equal to a predetermined value, such change is not an intended change, that is, an inadvertent change. In order to make the device insensitive to the change, the stored output value of the conversion means and the stored storage value of the conversion means are changed by continuously changing the stored storage value to the output measurement value of the conversion means. The difference between and does not reach the standard value,
Therefore, it can be configured so that the timing signal is not generated (the device is insensitive to the slow change of the physical quantity).

Physical quantities that can be the subject of the present invention include position, angle, temperature, humidity, weight, speed, acceleration, and optical quantities such as hue, saturation, brightness, light quantity, reflectance, transmittance, and the like.
And radiation density, electric field strength, magnetic flux density, chemical concentration, p
Electrochemical amount of H, component ratio, transparency, flow rate, pressure,
The frequency, frequency, and any other natural phenomenon can be cited, but in the following description, displacement will be taken as an example.

As a means for converting displacement into an electric quantity, for example, a potentiometer in which a resistor and a slider are combined is the most general, but any means capable of converting a change in angle or position into an electric signal can be used. A conversion element may be used,
For example, it is possible to use a magnetoresistive element and a magnet, and a photoelectric element and a shielding plate whose resistance value or generated electric quantity, for example, voltage changes by light. Also, in the case of a physical quantity other than displacement, an appropriate element that can convert the physical quantity into an electric quantity can be used.

The conventional encoder has a graduation at a constant interval and is digital, but in the present invention, the graduation interval can be arbitrarily set in use, and the amount of displacement per timing signal is arbitrary. It is more analog than the conventional one. The output timing signal of the encoder is generally an electric pulse. For example, with a rotary encoder, the resolution per rotation is 100,20.
It can be used as an encoder with a pulse number such as 0 or 500. Further, 101, 102, 103, 49
It can also be used as 9,501 or the like. Also, in the present invention, fractions other than integer values are possible. 345 in 2 rotations
It is also possible to set the number of pulses, such as 678 pulses for 7 rotations. These are 172.5 pulses per revolution, 96.85.
The value is 7142 ... However, the pulse interval can realize multiple rotations with continuity. Here, an example has been given in which the number of pulses becomes an integer value by integer rotation, but it is also possible to take an exact fraction.

In the present invention, the timing signal (pulse) density per unit movement amount (displacement amount) can be arbitrarily set in this way. The apparatus of the present invention does not have a scale indicating the timing signal generation position at the time of manufacture, and sets the timing signal density or the displacement amount per one timing signal during use or operation. Therefore, it is possible to reset the displacement amount per one timing signal during operation. According to the present invention, the timing signal generation density can be freely changed during the operation as described above. When moving a long distance to indicate the target position, set the timing signal generation density to a high value and move a large amount to lower the timing signal generation density as the target position is approached, and finally set the lowest when specifying the position. Position with the timing signal generation density. In this way, a smooth operation can be realized by adjusting the timing signal density.

The present invention particularly converts the displacement of the position or angle into a continuous timing signal, but the position or angle is replaced with any other physical quantity, and this physical quantity is detected as an electric quantity by an appropriate sensor. Alternatively, the change of the physical quantity may be converted into another change of the physical quantity, and then the change may be converted into a timing signal according to the present invention.

Two timing signal generators according to the present invention are provided.
By combining more than one set, it is possible to use a timing signal generation method that corresponds to displacement in two dimensions (position display on a plane) and three dimensions (stereoscopic display or position display on a spherical surface).

[0028]

【Example】

1) First configuration (unidirectional displacement single system) (Fig. 1 (a),
(B)) FIG. 1 shows a first configuration example, 1 is a converter for converting a physical quantity into a measured value, and a primary conversion section C ₁ for converting a displacement (physical quantity) into a voltage (electric quantity), The secondary conversion unit C ₂ converts the voltage into a numerical value (measured value), and 2 is a signal holder, 3
Is a comparator and 4 is a differentiator. The primary conversion unit C ₁ can use, for example, a known rotary potentiometer or slide volume, converts the input displacement amount 5 into a corresponding voltage, and outputs it as an output signal (displacement signal) 6x. The secondary conversion unit C ₂ is an A / D converter, which receives the output signal 6x as an input and converts it into a digital value corresponding to it, and outputs it as a measurement value signal 6. That is, the transducer 1 is an input displacement amount (physical amount)
Is converted into a corresponding measured value and is output as a measured value signal 6. The holder 2 holds the level of the measurement value signal 6 from the converter 1 at the time when the output timing signal 9 of the differentiator 4 is input, and outputs the held level (holding value) as an output signal (holding value signal). ) 7 is output.

The comparator 3 compares the measured value signal 6 of the converter 1 with the held value signal 7 of the holder 2, and the signal 6 is increased by a preset voltage difference (reference value) R with respect to the signal 7. Then, the output timing signal 8 is output. Hereinafter, in order to facilitate understanding, the potential difference will be described as a reference value, but in reality, it is a numerical value corresponding to the potential difference and is a process in a digital logic circuit.

The differentiator 4 detects the output signal 8 of the comparator 3 and outputs a timing signal 9. This timing signal 9
Is the level (holding value) of the measurement value signal 6 held in the holder 2 while being input to an external counter, for example.
Also acts as a timing signal to replace the signal with the level of signal 6 at that time.

The operation of the above circuit is graphically shown in FIG. That is, when the measured value signal 6 from the converter 1 increases and increases by a voltage difference (reference value) R corresponding to a preset displacement from the held value signal 7 of the holder 2, for example, 1 millivolt. The comparator 3 detects this and outputs a signal 8 (becomes a logic 1). The differentiator 4 shapes the waveform of the output signal 8 and outputs the timing signal 9. The differentiator 4 outputs the signal 9 only for a moment when the signal 8 changes from logic 0 to 1. Due to the timing signal 9, the holder 2 replaces the holding voltage (holding value signal) 7 with the current input voltage (measurement value signal) 6. In other words, the current input voltage becomes the new holding value of the holder 2. As a result, the difference between the signal 6 and the signal 7 becomes zero, and the signal 8 becomes a logical 0 because the set voltage difference disappears. Thereafter, the above operation is repeated by increasing the measured value signal 6, and the number of timing signals 9 corresponding to the displacement amount is output. The output timing signal is counted by, for example, a counter, and the counted value is processed according to the purpose, and is displayed as a displacement amount on a display, for example.

2-1) Second configuration (one-way displacement multiple system switching system) (FIG. 3) In the configuration of FIG. 1, since there is only one converter 1, in the case of a rotary potentiometer, it depends on the diameter of the resistor. Even in the case of a straight-ahead potentiometer, the effective measuring range of the displacement amount is limited by the length of the resistor. This range can be expanded by using multiple converters. In case of rotary potentiometer, effective angle range is usually 250
Since the angle is from 350 degrees, the two potentiometers r ₁ and r ₂ are coaxially displaced by about 180 degrees, and the respective sliders s ₁ and s ₂ are placed on the common axis A that coincides with the axis of the potentiometer. Those fixed in the same direction (Fig. 18
(A)) or two potentiometers r ₁ , r
₂ are arranged at the same angle, and the sliders s ₁ and s ₂ are fixed by being shifted by 180 degrees on the axis A (FIG. 18).
(B)) can be used. Alternatively, FIG.
As shown in FIG. 8 (c), two potentiometers r ₁ ,
r ₂ are arranged on the left and right, the respective sliders are fixed by being shifted by 180 degrees on the respective rotation axes A ₁ A ₂ , and the gears G ₁ and G ₂ are fixed to the respective rotation axes, so that both gears are common. It is possible to use one in which each slider is rotated by meshing with one drive gear G and rotating the drive gear. Furthermore, two sliding bodies s ₁ and s ₂ are concatenated on one rotation axis A concentric with one circular resistor r.
It is also possible to use those which are installed at 80 degree intervals and are electrically insulated from each other (FIG. 18D).

According to the converter having the above construction, the outputs (measurement value signals 6, 6 ') which can be taken out from the two sliding bodies s ₁ , s ₂ (converters 1, 1') are shown in FIG. 4a. As described above, since the phases are 180 degrees out of phase with each other, it is sufficient to utilize the other output before the output of one of the outputs goes out of the effective range. When the effective angle range of the circular resistor of the potentiometer is smaller than the above, three or more resistors can be sequentially switched to obtain a continuity of 360 degrees.

When using a straight type (linear encoder), both ends of the effective resistance portion of the unit conversion element (slide volume, etc.) required for the required amount of movement are overlapped little by little, and they are sequentially switched to a larger ( It is possible to correspond to the displacement of the movement amount (long distance).

If linear motion is converted into rotary motion by a gear or the like, it is possible to measure linear displacement by using a rotary encoder instead of a linear encoder.

FIG. 3 shows an example of the second configuration of the present invention using the two converters as described above. In FIG. 3, a first unit including a converter 1, a holder 2, a comparator 3 and a distributor 4 is provided.
The circuit network of the system and the signals 5 to 9 of each circuit are the same as those in the configuration of FIG. 1, and the converter 1 ', the holder 2', and the comparator 3 '.
The circuit network of the second system including the differentiator 4'is also the same as the circuit network of the first system, and the signals 5'-9 'of each circuit correspond to the signals 5-9 of the corresponding network of the first system. Against 18
It has a phase difference of 0 °.

The configuration shown in FIG. 3 includes, in addition to the above-described two-system network, first and second selectors 10 and 11 for switching and selecting these two systems, an upper limit value generator 12, a comparator 13 and a selector. It has a switching command system including a command signal generator (flip-flop) 14.

The switching device 10 outputs the output signal 9 of the differentiator 4 of the first system or the output of the differentiator 4'of the second system depending on whether the output signal (switching command signal) 19 of the switching signal generator 14 is logic 1 or 0. One of the signals 9'is selected (switched) and this is output as the timing signal 15. In the configuration of FIG. 1, the holding value of the cage 2 (the level of the measured value signal 6) is updated by the output signal 9, but in this configuration, the cages 2 of both systems,
The held value of 2'is updated by the output signal 15 of the switch 10 (the output signal 9 or 9'of the differentiator 4 or 4 ').

In the switching command system, the switching device 11 selects the measurement value signal 6 or 6'of the same system as that selected by the switching device 10 by the output signal 19 of the off command signal generator 14 and outputs it. The signal 16 is given to the comparator 13.

The upper limit value generator 12 outputs an output signal (upper limit value signal) 17 having a level of the signal 6 corresponding to a displacement (effective upper limit value of the effective operation range) slightly before the transducer 1 or 1'exceeds its effective operation range. Is given to the comparator 13.

The comparator 13 compares the measured value signal 16 with the upper limit value signal 17, and when the signal 16 reaches the level of the signal 17, a predetermined value is set after the time when the effective operating range of the converter 1 or 1'is exceeded. Just before that, the output signal 18 (logic 1) is given to the AND circuit AN ₁ (FIG. 4B).

When the output timing signal 15 of the switch 10 is input to the AND circuit AN ₁ in the state where the output signal (logic 1) 18 is input, the system in which the switch signal generator 14 is currently operating, for example, the first It is determined that one system (1 to 4) has reached the upper limit of the effective operation range, and the logic of the output signal 19 is inverted. By this inversion, the switches 10 and 11 are switched to select the other system, for example, the second system (1 ′ to 4 ′), and thereafter output the output signal 9 ′ of the second system as the output timing signal 15. ..

The operation of the configuration shown in FIG. 3 will be described. The circuit networks of the two systems alternately operate in accordance with the displacement, and the signal 9 or 9'is output as the output timing signal 15. Since the operation of generating the signals 9 and 9'is the same as in the basic configuration shown in FIG. 1, only the operation of switching to the second system after exceeding the effective operation range of the first system will be described with reference to FIGS. ), And a more detailed description will be given with reference to FIG. Note that FIG. 4B is an enlarged view of the portion inside the circle of FIG.

Switching command signal 1 from switching signal generator 14
The measured value signal 6 of the first system selected by 9 (logic 0) is sent to the comparator 13 as the signal 16 via the switch 11.
Entered in. When the level of the input signal 16 reaches the level of the upper limit value signal 17 from the upper limit value generator 12, the comparator 13 outputs a signal 18 (FIG. b)) is output and AND circuit A
Give to N ₁ . On the other hand, when the measured value signal 6 increases due to the increase in the displacement and the timing signal 9 is generated next time, since the switch 10 selects the first system on the signal 9 side at this time, the signal 9 changes to the signal 15 Is output as AND circuit AN
Input to ₁ . Therefore, the AND condition is satisfied, and the switching signal generator 14 inverts the logic of the output signal 19 from 0 to 1 by the output of the AND circuit AN ₁ , switches the switching devices 10 and 11, and changes the operation system from the first system to the first system. Switching to two systems and continuing the operation by the signal 6 '.

In the second system, the holding value of both the retainer 2 and the retainer 2'is updated by the output timing signal 15 even during the operation of the first system. Therefore, even when the system is switched. , The continuity of the timing sequence of the output signal 15 is maintained.

2-2) Modification 1 of Second Configuration (FIG. 5) FIG. 5 shows a modification of FIG. First, in the configuration of FIG. 3, the comparators 3 and 3 ′ and the differentiators 4 and 4 ′ are provided in the first system and the second system, respectively, but in the configuration of FIG.
By arranging the switching device 10 in the subsequent stage, the number of the comparators 3 and the differentiator 4 is reduced to one, thereby simplifying the circuit configuration. The operation is easily understood according to the configuration of FIG.

2-3) Modification 2 of Second Configuration (FIG. 6) FIG. 6 shows another modification of FIG. 3, in which a switch 11 is arranged at the rear stage of the converters 1 and 1'and a holder is provided. 2, the comparator 3 and the differentiator 4 are common to both systems, respectively, and the circuit configuration is further simplified.

In the modification of FIG. 6, the output signal 9 of the differentiator 4 is changed.
Is given to the holder 2 via the delay circuit 21 to update the held value. In the configuration shown in FIG. 3 and FIG. 5, the holding values of the holders 2 and 2'are updated by the signals 15 and 9 at the same time when the output signals 15 and 9 are generated. However, in the configuration of FIG. The holding value of the holder 2 is updated as the signal 20 via the circuit 21. This switches the switch 11 with the output signal 19 of the switch signal generator 14, and the current measured value signal 6 or 6'of the new system is the signal 1.
This is because the updated held value and the measured value signal 6 or 6 ′ after that are input to the holder 2 as 6 and become the held value by the comparator 3. If the switching device 11 is switched to a new system (for example, the second system) after the holding value of the holder 2 is updated by the timing signal 9, the updated holding value of the holder 2 is changed to the previous system (before switching). High-level measurement value signal 6 (for example, the first system)
And the holding value of the higher signal level is compared with the lower signal 6'of the new system, in which case the holding value of the holder 2 is changed even if the measured value signal 6'changes by the reference value. This is because the timing 9 is not reached and the timing 9 is not output, which is inconvenient.

In the configuration of FIG. 6, the delay circuit 21 takes a long time to update the value held in the holder, and the accuracy of timing signal sequence generation is slightly degraded, but the overall circuit configuration can be further simplified.

3) Third Configuration (Bidirectional Displacement Single System) (FIG. 7) Although the above configuration is a configuration in which displacement is increased, the third configuration of the present invention is in the case where displacement is increased and decreased. This is a configuration that can cope with the case. An example of this is shown in FIG. 7. This configuration is a configuration of the configuration of FIG. 1 so as to be able to deal with the case where the displacement is in both directions of increase and decrease, and the same reference symbols indicate the corresponding components and the operations are the same. .. Signals and circuit elements whose displacements are output in the decreasing direction are indicated by the same reference symbols as the corresponding signals and circuit elements output in the increasing direction, with a subscript a added.

In FIG. 7, in addition to the comparator 3, the comparator 3a compares the measured value signal 6 from the converter 1 and the held value signal 7 from the holder 2, and the signal 6 is compared with the signal 7 in advance. When it decreases by the set voltage difference, in other words, signal 7 of signal 6
When the difference between and reaches a predetermined reference value R, the signal 8
Output a. The differentiator 4a is the output signal 8a of the comparator 3a.
In response to this, the timing signal 9a is output.

When receiving the output signal 9 of the differentiator 4 or the output signal 9a of the differentiator 4a, the OR circuit OR ₁ outputs this as the signal 23 and inputs it to the holder 2 to update the held value.

The operation of the above configuration will be described with reference to FIG. 8 as well. The retainer 2 corresponds to the previous generation position D of the timing signal 9 or 9a regardless of whether the displacement up to that time was increasing or decreasing. When the comparator 3 or the comparator 3a has a displacement (increase / decrease in the measured value signal 6) in the increasing direction or the decreasing direction corresponding to the respective set potential difference (reference value R), Then, the signal 8 or 8a is output at that position (d or -d), and the differentiator 4 or 4a generates the output timing signal 9 or 9a. This output timing signal can be input to separate or common counters, for example.

In order to equalize the set reference values R of the comparator 3 and the comparator 3a, one common potential difference (reference value) setter 26 can be connected to both the comparators 3 and 3a ( (Figure 9).

4-1) Fourth configuration (bidirectional displacement multiple system switching system) (FIG. 10) FIG. 10 is a configuration having the functions of the configurations of FIG. 3 and FIG. , The two systems are alternately switched to operate.

The configuration of FIG. 10 includes two bidirectional displacement single systems shown in FIG. 7, and when the measured value signal 6 or 6 ′ reaches the upper limit value or the lower limit value, the currently selected operation is in progress. Switch the system to the other system. The signals of the corresponding components in both systems have a phase difference of 180 degrees with each other, and are indicated by the same reference numbers with or without a dash ('). Further, a signal output in the direction of decreasing the displacement is shown by adding the subscript a to the same symbol as the signal output in the increasing direction. The AN ₂ is an AND circuit similar to the AN _1, and receives the output 15a of the differentiator 4a or 4'a and the output of the comparator 13a or 13'a via the switch 50, and the output thereof is the OR circuit OR ₂ To the switching command signal generator 14 via.

The operation of the configuration of FIG. 10 is a combination of the operations of the three configuration examples described above, and it will be easy to understand, so the description will be briefly described. The timing signal 15 is generated by the increase of the displacement 5 or 5 ', and the output timing signal 15a is generated by the decrease of the displacement. When the output signal 6, 6 ′ of either the converter 1, 1 ′ reaches the upper limit value or the lower limit value due to the increase or decrease of the displacement, the switching command signal 19 from the switching signal generator 14 causes the switching device 50 to operate. The system to be switched and operated is switched.

4-2) Modification 1 of Fourth Configuration (FIG. 11) FIG. 11 shows outputs 6, 6'of converters 1, 1'in FIG.
Is given to the comparisons 13 and 13a via the switch 11, so that the comparators 13 'and 13'a are omitted. In FIG. 11, the switch 51 corresponds to the switch 50 of FIG. 10, but in FIG. 11, the output 18 of the comparators 13 and 13a,
18a is directly applied to one input of the AND circuits AN ₁ and AN ₂ without passing through the switch 51. Since the operation of this modified example can be easily understood from the operation of FIG. 10, description thereof will be omitted.

4-3) Modification 2 of Fourth Configuration (FIG. 12) FIG. 12 is a diagram showing the configuration of FIG. 10 in which comparators 13 'and 13'a are provided.
Is omitted (that is, further in the configuration of FIG. 11), the comparators 3 ′ and 3′a and the differentiators 4 ′ and 4′a are also omitted, and the holders 2 and 2 ′ are omitted.
Outputs 7 and 7'of comparators 3 and 3 via a switch 52.
It is given to a. In FIG. 12, the switch 11 of FIG. 10 is incorporated in the switch 52. The operation of this modified example can be easily understood from the operation of the above-described example, and thus the description thereof is omitted.

5) Variable resolution configuration (FIGS. 9 and 13) In the configuration described above, the interval of the timing signal 9, that is, the amount of displacement (reference value R) from the current timing signal to the generation of the next timing signal. Was previously set to a constant value, but by making it variable, the resolution can be made variable. The comparators 3, 3'3a, 3'a can be configured by a comparator 24, an adder 25, and a potential difference (reference value) setting device 26 (FIGS. 9 and 13). Two comparators 3 (3 ′) and 3a for increasing and decreasing the displacement
In the configuration provided with (3′a), as shown in FIG. 9, the reference value setting device 26 and the comparator 3 (3 ′) are provided so that the sensitivity (resolution) does not differ between the displacement increasing direction and the displacement decreasing direction. ) And the comparator 3a (3'a). In any case, in order to make the resolution variable, the reference value setter 26 whose output voltage can be changed is used. There are various variable reference value setters. For example, a potentiometer that operates manually or in conjunction with an external change to change the set reference value (potential difference), a D / A converter controlled by an external electronic device, a computer, or the like. There is a method in which the potential difference is set arbitrarily.

6) Structure Insensitive to Low Speed Displacement (FIGS. 14 to 17) In the structure described above, the retainer 2 (2 ') sets the voltage level corresponding to the displacement at the time when the previous output timing signal is generated next time. Has a function of holding until the timing signal is generated. However, in this type of encoder, unintended and unintentional displacement may occur, and in such a case, it is desirable that the device is insensitive. Since the displacement that should make such a device insensitive is usually low speed, the present invention can be configured to be insensitive to low speed displacement.

In the present invention, the cage 2 (2 ') is
As shown in FIG. 14, it is composed of an aggregate of registers 31. A register is a logic circuit that holds data temporarily,
One bit of a binary number can be expressed. In the example of FIG. 14, six, that is, six bits represent 64 different voltage levels. However, in a practical device, 8 (2 for 8 bits)
It represents 56 different voltage levels). When there is no output timing signal 9, 15, 20, 23 as an update command signal to the holder 2 (2 ′), the value of the register 31 is output as the signal 7, 7 ′ as it is. When the update signal 9 (15, 20, 23) is input, the input measurement value signal (output of the converter 1 (1 ')) 6 (6') is set in the register 31 and the output signal 7
(7 ′), and the value held by the holder 2, that is, the output signal 7 (7 ′) is updated (FIG. 16). The differentiator 4
Although the update command signal 9 (15, 20, 23) based on the output timing signal of (4 ′, 4a, 4′a) has a certain time width, the update operation (setting in the register 31) is logical 0 of the timing signal. The operation is instantaneously performed at the transition point (rising edge) from 1 to 1, and there is no problem in the operation of the entire system.

FIG. 16 shows the speed of displacement (measurement value signal 6
(Change of (6 ')) and holding value signal 7 of the holder 2 (2')
The relationship of (7 ') is shown. The output timing signal 9 is generated every time the signal 6 (6 ′) increases and the difference from the signal 7 (7 ′) reaches the reference value R. As the speed of displacement decreases (the slope of the curve becomes gentler), the interval between the timing signals 9 increases.

In order to make the device insensitive to low-speed displacement, the cage 2 (2 ') of the present invention is constructed as shown in FIG. 2x (2'x) is the output signal 7
(7 ′) is an adder / subtractor (counter circuit) capable of setting the input signal 6 (6 ′), and signals 33, 33 ′ for adding / subtracting, The signal 35 (output of the equally-spaced signal generator 34) indicating the timing of executing the subtraction and the output value 7 (7 ′) are input values 6
Signal 9 (15, 2) instructing replacement with (6 ′)
0, 23). 32 (32 ') is an input signal 6 (6') and an output signal 7 of the adder-subtractor 2x (2'x)
This is a comparator that compares (7 ′) and outputs the comparison result as a signal 33 (33 ′). In this configuration, signal 3
Every time 5 is input, the input signal 6 (6 ') and the output signal 7
The held value of the adder / subtractor (holder) is increased or decreased (+1 or -1) by the comparison result of (7 ') (the output signal 33 (33') of the comparator 32 (32 ')). That is, when the input signal 6 (6 ') changes in the positive direction, the output signal 7
(7 ') also gradually increases. This means that the signal 7 (7 ') in FIG. 17 is inclined to the upper right from the horizontal position in FIG.

Even if a displacement occurs, the speed of the displacement that ignores this and makes it insensitive (insensitive displacement speed, for example, the speed of displacement that generates one timing signal 9 every 2 seconds), etc. If the interval signal generator 34 is set, the normal operation is performed when the displacement is input faster than the set insensitive displacement speed, for example, the displacement speed that generates 10 timing signals per second. .. That is, although the output hold value signal 7 (7 ') also gradually changes according to the change of the input measured value signal 6 (6'), the change of the signal 6 (6 ') is larger than that of the signal 7 (7'). Therefore, the difference between the two reaches the reference value R and the timing signal 8 is output (up to the timing signal Pn in FIG. 17). However, when the displacement is slower than the insensitive displacement velocity, for example, slow enough to generate one timing signal in 5 seconds (on the right side of the timing signal Pn in FIG. 17), the timing signal Pn is generated from the previous position. Originally, even if there is a displacement to the position where the next timing signal is generated,
Along with the change (increase) in the input measured value signal 6 (6 ′), the held value signal 7 (7 ′) that serves as a reference with which the input signal 6 (6 ′) is compared is also the input signal 6 (6 ′). Therefore, the difference between the signals 6 (6 ′) and 7 (7 ′) does not reach the reference value R (the signal 6 (6 ′ on the right side of Pn in FIG. 17). ) And 7 (7 ') do not increase), so comparator 3 (3') does not generate output signal 8. That is, the device is insensitive to low speed displacement.

6) Modifications of Embodiments 1) to 4) The present invention can be modified in various ways other than the above-mentioned embodiments. For example, also in the fourth configuration, as in the modification 2 (FIG. 6) of the second configuration, a configuration in which the two retainers 2 and 2 ′ are shared by one retainer 2 is possible.

The multi-system switching system shown in the figure has a configuration in which two systems are switched, but a configuration in which three or more systems are sequentially switched is also possible.

7) Fifth configuration (FIGS. 19 and 21) First to fourth configurations and modifications thereof, variable resolution configurations,
The configuration insensitive to the change in the low speed and the configuration of the other modified examples have been described on the assumption that these functions and operations are processed by the wiring logic control method. The fifth configuration is a configuration based on a storage program control system using an electronic computer or the like, in contrast to the wiring logic control system based on the logic circuits up to the preceding paragraph. In other words, the control by software is used instead of the control by hardware up to the preceding paragraph.

Therefore, it can be said that the basic idea is exactly the same, and in all cases, a) physical quantity → electric quantity converter, b) electric quantity (analog value) → numerical value (digital value) converter, and c) control section. And the function of the control unit c) is the same.

FIG. 19A shows a fifth configuration example corresponding to FIG. 1, in which 36 is a processing device according to a stored program control system such as an electronic computer, 37 is a sequential program execution program, and data is moved. , 38 is a storage unit for storing fixed data such as a program and reference value R, 39 is input data (setting value signal 6
(6 ')) and holding value data (holding value signal 7 (7')) and the like. It is not necessary to distinguish the storage units 38 and 39. FIG. 19B shows the contents of the storage units 38 and 39. FIG. 20 is an example of a flowchart of the program, and the operation is as follows. That is, step 1
The signal 6 is input with to set the input value to 6. In step 2, the holding value 7 is subtracted from the input value 6, and the result is compared with the reference value R. If it is not larger than R, repeat from step 1
If it is larger, input value 6 is changed to new hold value 7 in step 3.
And the timing signal 9 is output in step 4, and the process is repeated from step 1.

FIG. 21A shows a fifth structural example corresponding to FIG. 10, and the internal structure of the processing device 36 is the same as that of FIG. A signal 6 is an output signal of the converter 1, a signal 6 ′ is an output signal of the converter 1 ′ having a phase difference of 180 ° from the output signal 6 of the converter 1, and 15 is a process which functions as a timing signal generator. The output signal of the device 36, 15a is the output signal of the processing device 36 when the input displacement is in the opposite direction to that of the signal 15, and the signal 6 in FIG.
It is equivalent to 6 ', 15, 15a.

FIG. 21 (b) shows the contents of the storage units 38 and 39. The holding values 7, 7'corresponding to the two converters 1, 1'having an output signal having a phase difference of 180. Value 6, 6 '
Switching command signal 1 indicating which conversion system is selected
The upper limit 12 (12 ') and the lower limit 12a (12') indicating the position where the conversion system is switched are stored and stored as 9.
a) is stored as fixed data together with the program. Although the reference value R is stored in the storage unit 38 as fixed data in the figure, when it is used as variable resolution, it is moved to the storage unit 39 and used as variable data.

FIG. 22 is an example of a flow chart of the program. It is assumed that the switching command signal 19 indicates the conversion system of the converter 1 with a value "1" and the conversion system of the converter 1'with a value "2". The operation is as follows. That is, step 1
Then, the signal 6 or the signal 6'is input to be the input value 6 or the input value 6 '. In step 2, the process branches depending on the value of the switching command signal 19, and if the value is "1", the conversion system of the converter 1 is selected, and in step 3, the input value 6 is higher than the held value 7. Whether it is greater than the reference value R ((6
-7)> R) is determined. If (6-7)> R, whether or not the input value 6 is larger than the upper limit value 17 in step 4 (6
> 17) is determined. If the input value is larger than the upper limit,
In step 5, the value "2" is set in the switching command signal 19, and if the input value is not larger than the upper limit value, the switching command signal 19 remains unchanged. Subsequently, in step 6, the held value 7 is updated. At this time, the held value 7'is also updated at the same time.

In the processing of FIG. 10, the input value 6 is changed to the held value 7,
Also, although the input value 6'is set to the hold value 7 ', respectively, the program sets the input value 6 (6') to the hold value 7 '.
When it is determined that it is larger than (7 '), the input value is already 6
(6 ') is larger than the hold value 7 (7'), and the difference is the timing signal generation interval (density), or
In order to prevent an error in the number of occurrences, FIG.
As shown in FIG. 6, in step 6, the reference value R is added to the holding value 7 (7 ′), the sum is set as a new holding value 7 (7 ′), and the timing signal 15 is output in step 7.

In step 3, the input value 6 is the retained value 7
If the reference value R is not larger than the reference value R, the displacement in the decreasing direction is determined in step 3a, and the input value 6 is more than the reference value R than the held value 7.
It is determined whether or not it is smaller ((7-6)> R). After this, the same as above, steps 4a → 5a → 6a → 7a
And the timing signal 15a is output.

In step 3a, when the difference between the input value 6 and the held value 7 is not larger than the reference value R, the process returns to step 1 and the process is repeated. Similarly, the switching signal 19 has the value "2".
If the input value 6'increases, the process (operation) is performed as steps 1 → 2 → 3 ′ → 4 ′ → 5 ′ → 6 → 7.
To do. When the input value 6 ′ is decreasing, steps 1 → 2 → 3 ′ → 3′a → 4′a → 5′a → 6a → 7a
And process. In step 3'a, when the difference between the input value 6'and the held value 7'is not larger than the reference value R, the process returns to step 1 and the process is repeated. In the above example, the upper limit value is 17
And 17 'and lower limit values 17a and 17'a are given different values, but in practice they may be operated at the same value.

The fifth configuration in FIGS. 19 and 21 corresponds to that in FIGS. 1 and 10, but the other illustrated examples and unillustrated examples of the first to fourth configurations similarly correspond to the first and fourth examples, respectively. 5 configurations are possible. Further, in the illustrated example, the target physical quantity is the position, but it is of course possible to target other physical quantity.

[0078]

As described above, according to the present invention, the resolution can be continuously changed. Therefore, one unit can set the resolution at any time according to the purpose of use. Chattering does not occur because the timing signal is generated only after the state or position where one timing signal is generated is changed or displaced to the state or position where the timing signal is to be generated next. The conventional rotary encoder in which the scale was fixedly engraved on the disk required mechanical accuracy, but the present invention does not require the use of a disk or the like and does not require any scale, so mechanical accuracy is not required. Easy to make. Further, the device of the present invention can be used as a position information input device (pointing device such as a mouse or a trackball) for graphic processing by a computer, such as teaching or a CAD system for first learning the movement and position of a robot. Further, it is also applicable to dials for setting numerical values of various measuring instruments, control devices, communication devices and the like.

[Brief description of drawings]

FIG. 1 is a diagram showing an example of a first configuration of the present invention.

FIG. 2 is an explanatory view of the principle of the present invention.

FIG. 3 is a diagram showing an example of a second configuration of the present invention.

FIG. 4 is an operation explanatory diagram of the configuration of FIG. 3 of the present invention.

FIG. 5 is a diagram showing a modification of the second configuration of the present invention.

FIG. 6 is a diagram showing another modification of the second configuration of the present invention.

FIG. 7 is a diagram showing an example of a third configuration of the present invention.

FIG. 8 is an operation explanatory diagram of the configuration of FIG. 7 of the present invention.

FIG. 9 is a diagram showing a configuration of a comparator that shares a potential difference setting device.

FIG. 10 is a diagram showing an example of a fourth configuration of the present invention.

FIG. 11 is a diagram showing a modification of the fourth configuration of the present invention.

FIG. 12 is a diagram showing another modification of the fourth configuration of the present invention.

FIG. 13 is a diagram showing an example of a comparator.

FIG. 14 is a view showing an example of a cage.

FIG. 15 is a view showing another example of a cage.

16 is an operation explanatory view of the cage of FIG.

FIG. 17 is an operation explanatory view of the cage of FIG. 15.

FIG. 18 is a schematic diagram showing a configuration example of a converter.

FIG. 19 is a diagram showing an example of a fifth configuration of the present invention.

FIG. 20 is a flowchart showing the operation of the fifth configuration of the present invention.

FIG. 21 is a diagram showing another example of the fifth configuration of the present invention.

22 is a flowchart showing the operation of the configuration of FIG.

[Explanation of symbols]

1, 1'Converter 2, 2'Holder 3, 3 ', 3a, 3'a, 13, 13a, 32, 32'
Comparator 4, 4 ', 4a, 4'a Differentiator 10, 10', 11, 50, 51, 52 Switcher 12 Upper limit value generator 12a Lower limit value generator 14 Switching command signal generator 26 Potential difference setter 31 Register 34 equidistant signal generator 36 processing device 38, 39 storage unit

Claims (8)

[Claims] 1. A method of generating a timing signal according to a change in a physical quantity being measured, wherein the measured value of the physical quantity at the time of generation of the timing signal is stored and held, and the measured value of the physical quantity is stored with respect to the stored value. Each time a predetermined reference value is changed, a single timing signal is generated, and the physical quantity is changed by repeating the operation of storing and holding the measured value of the physical quantity at that time instead of the previous stored value. A timing signal generating method characterized by generating a number of timing signals according to the quantity. 2. The timing signal generating method according to claim 1, wherein the generation density of the timing signal is made variable by changing the reference value. 3. A) primary conversion section for converting and outputting a physical quantity into a corresponding electric quantity, and secondary output section for converting and outputting an analog quantity output electric quantity from this primary conversion section into a measured value of a digital quantity. Conversion means comprising at least one converter having a conversion part; and b) holding means for storing and holding the output measurement value at that time each time the output measurement value of the conversion means changes by a predetermined reference value. And c) comparing the memory holding value of the holding means with the output measured value of the converting means, and outputting one timing signal when the difference between the output measured value and the memory held value reaches the reference value. Timing signal generating means, and d) replacing means for applying the output timing signal to the holding means and replacing the stored value held therein by the output measured value of the converting means at that time point. Grayed signal generator. 4. The conversion means is composed of a plurality of converters that perform response conversion operations in different ranges of the same target physical quantity and output corresponding measured values, and the measured output values of the converters are predetermined. In comparison with the limit value, the converter whose output measured value has reached the predetermined limit value is sequentially switched to the converter whose output measured value has not reached the limit value, and the output measured value has not reached the limit value. 4. The timing signal generating device according to claim 3, further comprising means for selecting an output timing signal from the timing signal generating means based on the output measurement value of. 5. The timing signal generating means is provided with one each when the difference between the output measured value and the held value caused by the change in one direction and the opposite direction of the output measured value reaches the reference value. The timing signal generating device according to claim 3, wherein the timing signal generating device is configured to output a timing signal. 6. The timing signal generator according to claim 3, wherein the predetermined reference value is variable. 7. The holding means has a function of changing the stored stored value so as to approach the output measured value when the rate of change of the output measured value of the converting means is equal to or less than a predetermined value. 7. The timing signal generator according to claim 3, wherein: 8. A) primary conversion section for converting and outputting a physical quantity into a corresponding electric quantity, and a secondary conversion section for converting and outputting an analog quantity output electric quantity from this primary conversion section into a measured value of a digital quantity. A conversion unit including at least one converter having a conversion unit; and b) a storage holding function for storing and holding the output measurement value at that time every time the output measurement value of the conversion unit changes by a predetermined reference value. And a timing for outputting one timing signal when the difference between the output measurement value and the memory retention value reaches the reference value by comparing the memory retention value by the memory retention function with the output measurement value of the converting means. Storage program control means having a signal generating function and a function of replacing the stored value with the output measurement value of the conversion means at that time in response to the output timing signal. Timing signal generating device for.