WO2006038591A1 - エンコーダ - Google Patents
エンコーダ Download PDFInfo
- Publication number
- WO2006038591A1 WO2006038591A1 PCT/JP2005/018301 JP2005018301W WO2006038591A1 WO 2006038591 A1 WO2006038591 A1 WO 2006038591A1 JP 2005018301 W JP2005018301 W JP 2005018301W WO 2006038591 A1 WO2006038591 A1 WO 2006038591A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- light
- optical
- operation direction
- scale plate
- optical repeater
- Prior art date
Links
- 230000003287 optical effect Effects 0.000 claims abstract description 166
- 238000001514 detection method Methods 0.000 claims description 12
- 230000005484 gravity Effects 0.000 abstract description 24
- 230000005540 biological transmission Effects 0.000 abstract description 20
- 230000000903 blocking effect Effects 0.000 description 21
- 230000033001 locomotion Effects 0.000 description 11
- 238000010586 diagram Methods 0.000 description 8
- 238000000034 method Methods 0.000 description 4
- 230000001902 propagating effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
Classifications
-
- 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
Definitions
- the present invention relates to an optical encoder.
- Patent Document 1 describes the following as a conventional optical encoder.
- light is applied to an optical scale in which multiple grating windows with different types of diffraction grating forces are formed at predetermined distances, and the pattern of the diffracted light diffracted by the grating window is captured by a two-dimensional image sensor.
- the grating window is specified based on the imaged diffracted light pattern, and the position of the grating window in the operation direction of the optical scale is specified based on the position of the diffracted light pattern in the image. Detect the operating distance of.
- Patent Document 1 Japanese Patent Publication No. 8-10145
- the present invention has been made in view of such circumstances, and an encoder that can accurately detect the absolute values of the operating angle, operating distance, etc. of the scale plate with a simple configuration is provided.
- the purpose is to provide.
- an encoder includes a scale plate that is movable in a predetermined operation direction, and a plurality of scale plates that are formed along the operation direction.
- the encoder propagates light in a direction perpendicular to the operation direction.
- light non-propagating part force ⁇ An optical repeater configured in a three-dimensional arrangement, a light source device that projects light toward the optical repeater, and light projected by the light source device via the optical repeater It is arranged to receive light, and there are a plurality of movement directions and directions perpendicular to the movement direction.
- a photodetection device having a light receiving region configured by two-dimensionally arranging pixels and outputting light intensity profile data indicating a one-dimensional distribution of incident light intensity in each of the operation direction and the direction perpendicular to the operation direction;
- Each of the optical repeaters is different from each other in the one-dimensional pattern of the light propagation part and the light non-propagation part.
- each of the first light repeaters passes through the optical repeater along a direction perpendicular to the operation direction.
- a reference light propagation part is formed on the line.
- each of the optical repeaters formed on the scale plate along the operation direction of the scale plate has a different one-dimensional array pattern of the light propagation portion and the light non-propagation portion. ing.
- operation absolute values such as the operating angle and operating distance of the scale plate
- the optical repeater that relays the light projected by the light source device to the photodetector is identified, and the operation based on the identified optical repeater force
- the absolute value can be obtained.
- the reference light propagation part is formed on the first line passing through the optical repeater along the direction perpendicular to the operation direction on the scale plate, the reference light propagation part With this position as a reference, it is possible to accurately identify the optical repeater that relays the light projected by the light source device to the photodetector. Further, based on the light intensity profile data for the movement direction, the position of the identified optical repeater relative to the reference position in the light receiving area is calculated, and the calculated movement force based on the calculated positional force is corrected. Detailed operation absolute values can be obtained.
- the operating angle and operating distance of the scale plate And the like can be detected with a simple configuration with high accuracy.
- the light projected by the light source device is relayed to the light detection device with reference to the position of the reference light propagation unit.
- the position of the optical relay section relative to the reference position in the light receiving area is calculated based on the light intensity profile data in the direction of operation, and the absolute operation of the scale plate is calculated from the position of the optical relay section. It is preferable to have a processing unit that calculates the value. This By providing such a processing unit, as described above, it is possible to easily detect absolute values such as the operating angle and operating distance of the scale plate.
- the reference light propagation portion is preferably formed on the second line along the operation direction. This simplifies the processing when identifying the optical repeater that relays the light projected by the light source device to the photodetection device with the position of the reference light propagation unit as a reference.
- the light detection device is preferably arranged so as to receive the light projected by the light source device via one or two light repeaters.
- a plurality of optical repeaters are formed on the third line along the operation direction, and between the adjacent optical repeaters, the light propagation unit and the light non-propagation unit are provided.
- the one-dimensional array pattern may be different at one place, but the optical repeater is formed in a staggered manner on the fourth line and the fifth line along the operation direction. Also good.
- an encoder includes a scale plate movable in a predetermined operation direction, and a scale.
- a plurality of optical repeaters that are formed on a line along the operation direction and in which a light propagation portion and a light non-propagation portion are arranged one-dimensionally in a direction perpendicular to the operation direction, and toward the optical repeater
- a light source device that projects light, and a plurality of pixel forces arranged in an operation direction and a direction perpendicular to the operation direction are arranged so as to receive the light projected by the light source device via the optical repeater.
- each of the optical repeaters has a different one-dimensional array pattern of the light propagation part and the non-propagation part. Between the adjacent optical repeater parts, the one-dimensional pattern of the light propagation part and the non-propagation part is different. It is characterized by one difference.
- each of the plurality of optical repeaters formed on the line along the operation direction on the scale plate has different one-dimensional array patterns of the light propagation part and the light non-propagation part. Yes.
- a scale plate is obtained. It is possible to accurately detect the absolute values of the operating angle, operating distance, etc. with a simple configuration. Note that even when there are multiple optical repeaters that relay the light projected by the light source device to the photodetection device at the same time, a one-dimensional array of light propagation portions and light non-propagation portions is located between adjacent light repeaters. Since the pattern is different in one place, the identification of the plurality of optical repeaters based on the light intensity profile data in the direction perpendicular to the operation direction is not hindered.
- a processing unit that calculates the position of the optical repeater relative to the reference position in the light receiving region based on the light intensity profile data and obtains the operation absolute value of the scale plate from the position of the optical repeater.
- the light detection device is preferably arranged so as to receive the light projected by the light source device via one or two light repeaters.
- absolute values such as an operating angle and an operating distance of the scale plate can be detected with a simple configuration with high accuracy.
- FIG. 1 is a configuration diagram of an encoder according to a first embodiment.
- FIG. 2 is a front view of the scale plate of the encoder shown in FIG.
- FIG. 3 is a diagram showing an optical repeater and a reference light transmission unit of the encoder shown in FIG.
- FIG. 4 is a configuration diagram of the profile sensor of the encoder shown in FIG.
- FIG. 5 is a circuit diagram of a first signal processing unit included in the profile sensor of the encoder shown in FIG. 1.
- FIG. 6 is a diagram showing the relationship between the light receiving area and the optical repeater in the encoder shown in FIG.
- FIG. 7 is a configuration diagram of an encoder according to a second embodiment.
- FIG. 8 is a front view of a scale plate of the encoder shown in FIG.
- FIG. 9 is a diagram showing an optical repeater and a reference light transmission unit of the encoder shown in FIG.
- FIG. 10 is a diagram showing the relationship between the light receiving area and the optical repeater in the encoder shown in FIG.
- the encoder 1 is a so-called absolute type rotary encoder, and includes a rotary shaft 2 connected to a measurement object (not shown).
- a disc-shaped scale plate 3 is fixed to the rotary shaft 2, and the scale plate 3 rotates as the rotary shaft 2 rotates.
- This rotation direction is defined as the movement direction a of the scale plate 3.
- a plurality of optical repeaters 4 are formed at equal angles with the rotation axis 2 as the center. .
- the optical repeater 4 includes a light transmission part (light propagation part) 5 and a light blocking part (light non-propagation part) 6 formed as light transmission holes perpendicular to the operation direction oc. It is configured with a one-dimensional array in various directions.
- the light transmitting unit 5 transmits light by transmitting light, and the light blocking unit 6 does not transmit light by reflecting or absorbing light.
- Each of the optical repeaters 4 has a different one-dimensional array pattern of the light transmitting portion 5 and the light blocking portion 6, and the light transmitting portion 5 and the light between the adjacent optical repeaters 4 and 4 are different.
- the pattern force of the one-dimensional array of the blocking part 6 is different.
- the optical repeater part 4 is represented by a code, “000”, “001”, “011”, “010” ”,“ 110 ”,“ 111 ”,“ 101 ”,“ 100 ”.
- a reference light transmission part (reference light propagation part) 7 is formed as a light transmission hole with one light blocking part 6 sandwiched between the light relay part 4 and the light transmission part 4.
- the encoder 1 is connected to the optical repeater 4 arranged on the line L1.
- a light source device 8 such as an LED that projects parallel light toward the light source and a profile sensor (light detection device) 9 disposed so as to face the light source device 8 with the scale plate 3 interposed therebetween are provided.
- the profile sensor 9 receives the light transmitted by the light source device 8 and transmitted through the light transmitting portion 5 of the optical repeater 4 (in other words, optically relays the light projected by the light source device 8).
- the light intensity profile data is output to the processing unit 11 by receiving light through the unit 4).
- the profile sensor 9 has a light receiving region 100, a first signal processing unit 110, and a second signal processing unit 120.
- the light receiving region 100 is configured by MXN pixels arranged two-dimensionally in the operation direction a (tangential direction of the line L1) and in the direction perpendicular to the operation direction a, and is at the position of the mth row and the nth column.
- Two photodiodes PD and PD are formed in the pixel.
- the sword terminals ⁇ , ⁇ , ⁇ ⁇ , ⁇ , ⁇ are connected to the first signal processing unit 110 by a common wiring L. M
- the power sword terminals of the eight photodiodes PD to PD in the row are connected to the common wiring L
- Y, m, l Y, m, N ⁇ are connected to the second signal processor 120.
- the first signal processing unit 110 has a shift register 111, an integration circuit 112, and N switches SW to SW. One end of each switch SW is connected to wiring L
- each switch SW is connected to the input terminal of the integrating circuit 112 through a common wiring.
- Each switch SW is sequentially closed based on a control signal output from the shift register 111.
- the integrating circuit 112 includes an amplifier ⁇ , a capacitive element C, and a switch SW. Capacitance element C and switch SW are connected in parallel to each other, and are provided between the input terminal and the output terminal of amplifier ⁇ . When the switch SW is closed, the capacitive element C is discharged, and the voltage value output from the integrating circuit 112 is initialized.
- switch SW opens and switch SW closes, the M rows in the nth row connected to wire L
- the total sum of charges generated by light incident on each photodiode PD to PD is the product.
- the charge is input to the dividing circuit 112, the charge is accumulated in the capacitive element C, and the voltage value V ( ⁇ ) corresponding to the accumulated charge amount is output from the integrating circuit 112.
- the second signal processing unit 120 also has the first signal processing.
- X It has a configuration similar to that of the processing unit 110 and performs the same operation.
- the profile sensor 9 configured as described above has the first light intensity profile data V (n) indicating the one-dimensional distribution of the incident light intensity in the operation direction a (tangential direction of the line L1) in the light receiving region 100. Is output from the first signal processing unit 110 and perpendicular to the operation direction a.
- the processing unit 11 receives the first light intensity profile data V (n) and the second light intensity profile data V (m).
- the profile sensor 9 is disposed so as to receive the light projected by the light source device 8 via one or two light relay units 4. That is, as shown in Fig. 6, if the width along the operating direction oc of the light receiving area 100 is W and the distance along the operating direction oc of the adjacent optical repeaters 4 and 4 is D, WZ2 ⁇ D ⁇ The relational expression of W is satisfied. As a result, one or two optical repeaters 4 are always positioned on the light receiving region 100.
- the number of areas exceeding the threshold value thl is calculated, and the number of optical repeaters 4 located on the light receiving area 100 is determined.
- the reference light transmitting portion 7 is formed with one light blocking portion 6 interposed between the optical repeater portion 4 and the second light intensity profile.
- the center of gravity position of the reference light transmitting portion 7 can be accurately calculated based on the file data V (m).
- f (V (y) is a threshold function.
- th2 and th3 are light source device 8, profile receiver.
- the light receiving sensitivity isotropic force of the sensor 9 is also a predetermined threshold value, and the threshold value th2 is determined as a criterion for determining brightness when there is one light transmitting portion 5 along the operation direction ⁇ . It is determined as a criterion for determining the brightness when there are two light transmission parts 5 along the movement direction ex.
- the output value obtained in the case shown in FIG. 6 is “120”.
- only one set in encoder 1 has an output value of “120” in the adjacent optical repeaters 4 and 4. That is, the codes of the optical repeater 4 located on the light receiving area 100 are “010” and “110”. Since the processing unit 11 stores the code arrangement of the optical repeater 4 (in FIG. 3, the right force is also “000”, “001”, “011”,..., “100” in order), FIG. The code of the right optical repeater 4 is uniquely identified as “010”, and the code of the left optical repeater 4 is uniquely identified as “110”.
- calculation of the operating angle of the scale plate 3 is performed as follows. First, the threshold value thl was exceeded based on the first light intensity profile data V ( ⁇ ) for the operating direction ⁇ .
- the center of gravity position pos of the region is calculated by the following calculation.
- the center position of the light receiving region 100 in the operation direction O is defined as the origin (reference position) of the gravity center position pos.
- the operating angle ⁇ of the scale plate 3 is calculated by the following calculation.
- the state where the center of gravity of the optical repeater 4 with the code “000” coincides with the center position of the light receiving region 100 in the operation direction ex is defined as 0 degree.
- ⁇ (code order + posZp) X (360Z
- ⁇ is the distance between the centers of gravity of the adjacent optical repeaters 4 and 4.
- the code order is shown in Fig. 3.
- the operating angle ⁇ of the scale plate 3 is as follows based on the center of gravity position pos of the optical repeater 4 of “
- the operating angle 0 of the scale plate 3 is as follows.
- the operating angle ⁇ of the scale plate 3 is calculated based on the center of gravity position pos of either of the optical repeaters 4. be able to.
- each of the plurality of optical repeaters 4 formed on the scale plate 3 along the operation direction a includes the light transmission unit 5 and the light blocking unit.
- the six one-dimensional array patterns are different from each other.
- the optical repeater 4 located on the light receiving region 100 is treated as the processing unit 11 based on the second light intensity profile data V (m) in the direction perpendicular to the operation direction ⁇ using the one-dimensional array pattern as a code.
- the position of the reference light transmitting portion 7 formed on the scale plate 3 for each optical repeater 4 even if the scale plate 3 is eccentric with respect to the rotating shaft 2. Can be used to accurately identify the optical repeater 4 located on the light receiving area 100. Furthermore, the first light intensity profile data V (n) for the operating direction a
- each reference light transmitting portion 7 is arranged on the line L3 along the operation direction ex.
- each of the plurality of optical repeaters 4 formed on the line L1 along the operation direction ex on the scale plate 3 includes the light transmission unit 5 and the light.
- the patterns of the one-dimensional array of the blocking portions 6 are different from each other.
- the optical repeater 4 located on the light receiving region 100 is processed based on the second light intensity profile data V (m) in the direction perpendicular to the operation direction ⁇ using the one-dimensional array pattern as a code. 11
- the overlap of the identified optical repeater 4 with respect to the reference position in the light receiving region 100 is determined.
- the center position is calculated, and the detailed operating angle of the scale plate 3 can be calculated from the center of gravity position.
- using the profile sensor 9 eliminates the need for a frame memory, etc., which is necessary when using a two-dimensional image sensor, and makes it possible to accurately detect the operating angle of the scale plate 3 with a simple configuration. Become. With the use of the profile sensor 9, the processing time can be greatly reduced as compared with the case of using a two-dimensional image sensor.
- the light transmitting portion 5 and the light are connected between the adjacent optical repeaters 4 and 4. Since the pattern of the one-dimensional array of the blocking unit 6 is different at one location, the operating direction (identification of the two optical repeaters 4 based on the second light intensity profile data V (m) in the direction perpendicular to X is determined. Is disturbed
- the profile sensor 9 is arranged so as to receive the light projected by the light source device 8 via one or two optical repeaters 4. ing. This simplifies the process when calculating the operating angle of the scale plate 3.
- the encoder 1 according to the second embodiment is mainly different from the encoder 1 according to the first embodiment in the arrangement of the optical repeater 4 with respect to the scale plate 3.
- the scale plate 3 is provided with concentric lines (fourth line) L4 and lines (fifth line) L5 along the operation direction ex. These lines L4 and L5 A number of optical repeaters 4 are formed in a staggered pattern. More specifically, a plurality of optical repeaters 4 are arranged on the line L4 and the line L5 at equal angles around the rotation axis 2, and the optical repeaters 4 arranged on the line L5. Is located in the middle of the adjacent optical repeaters 4 and 4 among the optical repeaters 4 arranged on the line L4.
- a light transmission part (light propagation part) 5 and a light blocking part (light non-propagation part) 6 are arranged one-dimensionally in a direction perpendicular to the operation direction oc. Configured.
- the one-dimensional arrangement patterns of the light transmitting portion 5 and the light blocking portion 6 are different from each other.
- 16 optical repeaters 4 are arranged in a zigzag pattern on the line L4 and the line L5 at equiangular intervals with the rotation axis 2 as the center.
- the light transmitting part 5 is set to “1” and the light blocking part 6 is set to be different.
- a 4-bit code with “0” may be used.
- a reference light transmission part (reference light propagation part) 7 is formed on the line L2 (second line) L3 with one light blocking part 6 sandwiched between it and the optical repeater part 4.
- the profile sensor (light detection device) 9 passes the light projected by the light source device 8 via one or two optical repeaters 4. It is arranged to receive light.
- W is the width along the line L4
- D is the distance along the operation direction a of the adjacent optical repeaters 4 and 4 across the line L4 and L5. Fulfill.
- one or two optical repeaters 4 are always positioned on the light receiving region 100.
- the number of areas exceeding the threshold value thl is calculated, and the number of optical repeaters 4 located on the light receiving area 100 is determined.
- the optical repeater 4 appears at every center-pipe distance p.
- the output value obtained in the case shown in FIG. 10 is “0111” for the optical repeater 4 on the line L4, and "1000" for the optical repeater 4 on the line L5. "
- the code of the right optical repeater 4 is uniquely identified as “0111”
- the code of the left optical repeater 4 is uniquely identified as “1000”.
- the two optical repeaters 4 are simultaneously located on the light receiving region 100 of the profile sensor 9, the two optical repeaters 4 Is present on line L4 and on line L5, so the direction perpendicular to the direction of motion ⁇ Of the two optical repeaters 4 based on the second light intensity profile data V (m)
- each of the plurality of optical repeaters 4 formed on the scale plate 3 along the operation direction a includes the light transmitting unit 5 and the light blocking unit.
- the six one-dimensional array patterns are different from each other.
- the optical repeater 4 located on the light receiving region 100 is treated as the processing unit 11 based on the second light intensity profile data V (m) in the direction perpendicular to the operation direction ⁇ using the one-dimensional array pattern as a code.
- the position of the reference light transmitting portion 7 formed on the scale plate 3 for each optical repeater 4 even if the scale plate 3 is eccentric with respect to the rotating shaft 2. Can be used to accurately identify the optical repeater 4 located on the light receiving area 100. Furthermore, the first light intensity profile data V (n) for the operating direction a
- the use of the profile sensor 9 eliminates the need for a frame memory or the like that is required when using a two-dimensional image sensor, and allows the operating angle of the scale plate 3 to be accurately detected with a simple configuration. .
- the processing time can be greatly reduced as compared with the case of using a two-dimensional image sensor.
- the encoder 1 has a configuration in which the scale plate 3 performs a rotation operation, and the rotation direction is the operation direction oc of the scale plate 3, and a plurality of optical repeaters 4 are formed on the scale plate 3.
- the encoder according to the present invention includes a linear encoder in which a scale plate performs a linear motion, and a plurality of optical repeaters are formed on the scale plate with the linear direction as the direction of operation of the scale plate. It may be.
- the profile sensor 9 is disposed so as to receive light transmitted through the light transmission unit 5 of the light relay unit 4 among the light projected by the light source device 8.
- the force of the transmission type encoder configured as described above is such that the encoder according to the present invention receives light diffracted or scattered by the light propagation part of the light relay part among the light projected by the light source device.
- a reflection type encoder in which a profile sensor is arranged may be used. In other words, the encoder according to the present invention only needs to be configured so that the profile sensor is arranged so as to receive the light projected by the light source device via the optical repeater.
- the identification of the two optical relay units 4 is performed as follows. Can also be done. First, similarly to the above embodiment, the code output values of the two optical repeaters 4 are obtained based on the second optical intensity profile data V (m) in the direction perpendicular to the operation direction oc.
- the light transmission unit 5 and the reference light transmission unit included in each optical relay unit 4 Determine the number of 7. As described above, for the two optical repeaters 4 simultaneously positioned on the light receiving region 100, the output values of the codes of the two optical repeaters 4, and the light transmitting portions 5 and the reference light of each optical repeater 4 are provided. If the number of transmission parts 7 is known, the two optical repeaters 4 can be identified.
- the output value of the code of each optical repeater 4 is “120”.
- the number of the light transmitting parts 5 and the reference light transmitting parts 7 included in the right light relay part 4 is two, and the number of the light transmitting parts 5 and the reference light transmitting parts 7 included in the left light relay part 4 is as follows. The number is three. In this way, the output value of the adjacent optical repeaters 4 and 4 is “120”, and the right optical repeater 4 has two light transmitting portions 5 and two reference light transmitting portions 7, and the left optical repeater.
- the number of light transmitting parts 5 and reference light transmitting parts 7 included in the part 4 is only three in the encoder 1. Accordingly, in FIG. 6, the code of the right optical repeater 4 is uniquely identified as “010”, and the code of the left optical repeater 4 is uniquely identified as “110”.
- the identification of the two optical relay units 4 is performed as follows. Can also be done.
- the second light intensity in the direction perpendicular to the operating direction oc is The code output values of the two optical repeaters 4 are obtained based on the degree profile data V (m).
- the second light intensity profile data V (m) is compared with the threshold value th2, and V (m)> th
- absolute values such as the operating angle and operating distance of the scale plate can be accurately detected with a simple configuration.
Abstract
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP05788325.8A EP1816441B1 (en) | 2004-10-04 | 2005-10-03 | Encoder |
US11/664,497 US7781726B2 (en) | 2004-10-04 | 2005-10-03 | Encoder including a light detecting device having two signal processing sections for pixels in a first and second direction |
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2004-291828 | 2004-10-04 | ||
JP2004291828A JP4425108B2 (ja) | 2004-10-04 | 2004-10-04 | エンコーダ |
JP2004316209A JP4425112B2 (ja) | 2004-10-29 | 2004-10-29 | エンコーダ |
JP2004-316209 | 2004-10-29 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2006038591A1 true WO2006038591A1 (ja) | 2006-04-13 |
Family
ID=36142664
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2005/018301 WO2006038591A1 (ja) | 2004-10-04 | 2005-10-03 | エンコーダ |
Country Status (3)
Country | Link |
---|---|
US (1) | US7781726B2 (ja) |
EP (1) | EP1816441B1 (ja) |
WO (1) | WO2006038591A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20180243226A1 (en) * | 2015-09-04 | 2018-08-30 | Yale University | Polymeric bile acid nanocompositions targeting the pancreas and colon |
Families Citing this family (29)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB201018572D0 (en) * | 2010-11-04 | 2010-12-15 | Reckitt & Colman Overseas | Refill recognition system and circuit |
US9542016B2 (en) | 2012-09-13 | 2017-01-10 | Apple Inc. | Optical sensing mechanisms for input devices |
US9753436B2 (en) | 2013-06-11 | 2017-09-05 | Apple Inc. | Rotary input mechanism for an electronic device |
KR102430508B1 (ko) | 2013-08-09 | 2022-08-09 | 애플 인크. | 전자 디바이스용 촉각 스위치 |
US10048802B2 (en) | 2014-02-12 | 2018-08-14 | Apple Inc. | Rejection of false turns of rotary inputs for electronic devices |
US10190891B1 (en) * | 2014-07-16 | 2019-01-29 | Apple Inc. | Optical encoder for detecting rotational and axial movement |
US9797752B1 (en) | 2014-07-16 | 2017-10-24 | Apple Inc. | Optical encoder with axially aligned sensor |
US9797753B1 (en) | 2014-08-27 | 2017-10-24 | Apple Inc. | Spatial phase estimation for optical encoders |
US10066970B2 (en) | 2014-08-27 | 2018-09-04 | Apple Inc. | Dynamic range control for optical encoders |
KR20230097197A (ko) | 2014-09-02 | 2023-06-30 | 애플 인크. | 웨어러블 전자 디바이스 |
US10145711B2 (en) | 2015-03-05 | 2018-12-04 | Apple Inc. | Optical encoder with direction-dependent optical properties having an optically anisotropic region to produce a first and a second light distribution |
WO2016144919A1 (en) | 2015-03-08 | 2016-09-15 | Apple Inc. | Compressible seal for rotatable and translatable input mechanisms |
US9952682B2 (en) | 2015-04-15 | 2018-04-24 | Apple Inc. | Depressible keys with decoupled electrical and mechanical functionality |
US10018966B2 (en) | 2015-04-24 | 2018-07-10 | Apple Inc. | Cover member for an input mechanism of an electronic device |
US9891651B2 (en) | 2016-02-27 | 2018-02-13 | Apple Inc. | Rotatable input mechanism having adjustable output |
US10551798B1 (en) | 2016-05-17 | 2020-02-04 | Apple Inc. | Rotatable crown for an electronic device |
US10061399B2 (en) | 2016-07-15 | 2018-08-28 | Apple Inc. | Capacitive gap sensor ring for an input device |
US10019097B2 (en) | 2016-07-25 | 2018-07-10 | Apple Inc. | Force-detecting input structure |
US10664074B2 (en) | 2017-06-19 | 2020-05-26 | Apple Inc. | Contact-sensitive crown for an electronic watch |
US10962935B1 (en) | 2017-07-18 | 2021-03-30 | Apple Inc. | Tri-axis force sensor |
US11360440B2 (en) | 2018-06-25 | 2022-06-14 | Apple Inc. | Crown for an electronic watch |
US11561515B2 (en) | 2018-08-02 | 2023-01-24 | Apple Inc. | Crown for an electronic watch |
US11181863B2 (en) | 2018-08-24 | 2021-11-23 | Apple Inc. | Conductive cap for watch crown |
CN209560398U (zh) | 2018-08-24 | 2019-10-29 | 苹果公司 | 电子表 |
US11194298B2 (en) | 2018-08-30 | 2021-12-07 | Apple Inc. | Crown assembly for an electronic watch |
CN209625187U (zh) | 2018-08-30 | 2019-11-12 | 苹果公司 | 电子手表和电子设备 |
US11194299B1 (en) | 2019-02-12 | 2021-12-07 | Apple Inc. | Variable frictional feedback device for a digital crown of an electronic watch |
US11550268B2 (en) | 2020-06-02 | 2023-01-10 | Apple Inc. | Switch module for electronic crown assembly |
US20210391930A1 (en) | 2020-06-11 | 2021-12-16 | Apple Inc. | Electronic device |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH10281811A (ja) * | 1997-04-10 | 1998-10-23 | Ricoh Co Ltd | ロータリエンコーダ |
JP2001208566A (ja) * | 1999-12-03 | 2001-08-03 | Renishaw Plc | 測定装置 |
JP2001221659A (ja) * | 2000-02-14 | 2001-08-17 | Teiichi Okochi | 光学式スケール装置及び光学式ロータリースケール装置 |
JP2002048601A (ja) * | 2000-08-07 | 2002-02-15 | Mitsutoyo Corp | 光学式変位測定装置 |
Family Cites Families (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH06100482B2 (ja) * | 1985-07-03 | 1994-12-12 | 旭化成工業株式会社 | ロ−タリ−エンコ−ダ |
CH683798A5 (fr) * | 1990-12-10 | 1994-05-13 | Tesa Sa | Capteur de position pour un appareil de mesure de grandeurs linéaires ou angulaires. |
US5703356A (en) * | 1992-10-05 | 1997-12-30 | Logitech, Inc. | Pointing device utilizing a photodetector array |
JPH0810145A (ja) | 1994-06-28 | 1996-01-16 | Matsushita Electric Ind Co Ltd | 炊飯器 |
US5825307A (en) * | 1997-02-05 | 1998-10-20 | Perception Incorporated | Absolute linear encoder and method of production utilizing index and counter channels |
US6867412B2 (en) * | 2002-11-12 | 2005-03-15 | Mitutoyo Corporation | Scale structures and methods usable in an absolute position transducer |
JP4425078B2 (ja) * | 2004-07-12 | 2010-03-03 | 浜松ホトニクス株式会社 | エンコーダ |
-
2005
- 2005-10-03 WO PCT/JP2005/018301 patent/WO2006038591A1/ja active Application Filing
- 2005-10-03 EP EP05788325.8A patent/EP1816441B1/en not_active Expired - Fee Related
- 2005-10-03 US US11/664,497 patent/US7781726B2/en not_active Expired - Fee Related
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH10281811A (ja) * | 1997-04-10 | 1998-10-23 | Ricoh Co Ltd | ロータリエンコーダ |
JP2001208566A (ja) * | 1999-12-03 | 2001-08-03 | Renishaw Plc | 測定装置 |
JP2001221659A (ja) * | 2000-02-14 | 2001-08-17 | Teiichi Okochi | 光学式スケール装置及び光学式ロータリースケール装置 |
JP2002048601A (ja) * | 2000-08-07 | 2002-02-15 | Mitsutoyo Corp | 光学式変位測定装置 |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20180243226A1 (en) * | 2015-09-04 | 2018-08-30 | Yale University | Polymeric bile acid nanocompositions targeting the pancreas and colon |
US10864170B2 (en) * | 2015-09-04 | 2020-12-15 | Yale University | Polymeric bile acid nanocompositions targeting the pancreas and colon |
Also Published As
Publication number | Publication date |
---|---|
EP1816441B1 (en) | 2018-09-12 |
EP1816441A1 (en) | 2007-08-08 |
US20080128601A1 (en) | 2008-06-05 |
US7781726B2 (en) | 2010-08-24 |
EP1816441A4 (en) | 2014-03-12 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2006038591A1 (ja) | エンコーダ | |
US6909095B2 (en) | System and method for terahertz imaging using a single terahertz detector | |
US4546347A (en) | Detector for electro-optical mouse | |
WO2006006532A1 (ja) | エンコーダ | |
US6233373B1 (en) | Optical spectrometer with improved geometry and data processing for monitoring fiber optic bragg gratings | |
US8039786B2 (en) | Absolute position encoder obtains signals corresponding to individual imaging ranges of imaging optical systems | |
KR20010023064A (ko) | 대규모 고속의, 다중화시킨 광파이버 센서 네트워크 | |
DK2267451T3 (da) | Todimensionalt spektralt billedsystem og fremgangsmåde | |
WO2010063991A1 (en) | Optically diverse coded aperture imaging | |
US5641963A (en) | Infrared location system | |
JP2002508510A (ja) | 伝動路のトルクトランスデューサ | |
EP0885374A1 (en) | Three-dimensional color imaging | |
JP6505332B2 (ja) | 異なる上側レイヤを備えるセンシングシステム | |
US10481089B2 (en) | Optical detection system with tilted sensor | |
JP4425108B2 (ja) | エンコーダ | |
US20200128188A1 (en) | Image pickup device and image pickup system | |
JP4425117B2 (ja) | エンコーダ | |
KR20190012062A (ko) | 광 필터를 포함하는 광 분광기 | |
JP4425112B2 (ja) | エンコーダ | |
JP2008171195A (ja) | 防犯センサ | |
KR20180091726A (ko) | 광학 스펙트럼 측정 장치 및 광학 스펙트럼 측정 방법 | |
EP1562036A3 (en) | Measuring apparatus | |
CN114402226A (zh) | 光学传感器 | |
JPH03186998A (ja) | 客数センサ | |
US6818884B2 (en) | Optoelectronic sensor having transparent cover shaped as light deflecting element |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
AK | Designated states |
Kind code of ref document: A1 Designated state(s): AE AG AL AM AT AU AZ BA BB BG BR BW BY BZ CA CH CN CO CR CU CZ DE DK DM DZ EC EE EG ES FI GB GD GE GH GM HR HU ID IL IN IS KE KG KM KP KR KZ LC LK LR LS LT LU LV LY MA MD MG MK MN MW MX MZ NA NG NI NO NZ OM PG PH PL PT RO RU SC SD SE SG SK SL SM SY TJ TM TN TR TT TZ UA UG US UZ VC VN YU ZA ZM ZW |
|
AL | Designated countries for regional patents |
Kind code of ref document: A1 Designated state(s): BW GH GM KE LS MW MZ NA SD SL SZ TZ UG ZM ZW AM AZ BY KG KZ MD RU TJ TM AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IS IT LT LU LV MC NL PL PT RO SE SI SK TR BF BJ CF CG CI CM GA GN GQ GW ML MR NE SN TD TG |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application | ||
NENP | Non-entry into the national phase |
Ref country code: DE |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2005788325 Country of ref document: EP |
|
WWP | Wipo information: published in national office |
Ref document number: 2005788325 Country of ref document: EP |
|
WWE | Wipo information: entry into national phase |
Ref document number: 11664497 Country of ref document: US |
|
WWP | Wipo information: published in national office |
Ref document number: 11664497 Country of ref document: US |