WO2007043521A1 - エンコーダ及びエンコーダ用受光装置 - Google Patents
エンコーダ及びエンコーダ用受光装置 Download PDFInfo
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- WO2007043521A1 WO2007043521A1 PCT/JP2006/320204 JP2006320204W WO2007043521A1 WO 2007043521 A1 WO2007043521 A1 WO 2007043521A1 JP 2006320204 W JP2006320204 W JP 2006320204W WO 2007043521 A1 WO2007043521 A1 WO 2007043521A1
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- light
- encoder
- detected
- light receiving
- scale
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- 238000001514 detection method Methods 0.000 claims description 33
- 230000005540 biological transmission Effects 0.000 claims description 20
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- 238000012545 processing Methods 0.000 description 16
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- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 2
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- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
- G01D5/32—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
- G01D5/34—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
- G01D5/347—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells using displacement encoding scales
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
- G01D5/32—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
- G01D5/34—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
- G01D5/347—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells using displacement encoding scales
- G01D5/3473—Circular or rotary encoders
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
Definitions
- the present invention relates to an optical encoder and a light receiving device for an encoder.
- This conventional encoder has an optical scale in which grating windows having different diffraction patterns are arranged in an annular shape, and a diffraction pattern of detected light irradiated to the grating window through a slit is imaged by an image sensor.
- the captured diffraction pattern force also identifies the grating window, identifies the position of the grating window based on the position of the diffraction pattern in the image, and detects the absolute angle of the measurement object.
- Patent Document 1 Japanese Patent Publication No. 8-10145
- the absolute angle is detected directly from the position of each specified grating window. For this reason, for example, if the positional relationship of each member constituting the optical system is shifted due to difficulty in processing the disk of the scale or subsequent changes over time, and the irradiation position of the light to be detected with respect to the scale is shifted, the absolute angle is There was a problem that the detection accuracy decreased.
- the present invention has been made to solve the above-described problem.
- An encoder capable of accurately detecting an absolute angle even when the irradiation position of the light to be detected with respect to the scale deviates from the reference force, and
- An object of the present invention is to provide a light receiving device for an encoder used in such an encoder.
- an encoder includes a rotating body, a light source device that emits detection light to the rotating body, a scale in which a plurality of light receiving elements are arranged, and the rotating body. Outputs an output signal based on the light intensity of the detected light incident on the light receiving element via A light receiving device having a force portion, the light receiving elements are arranged in a scale along an annular arrangement line, and the rotating body has a light beam to be detected in an area including a part of the arrangement line spaced apart from each other in the scale. It is characterized in that a bright part is irradiated and a region including other parts excluding a part of the array line is a dark part where the detection light is not irradiated.
- this encoder in a scale in which a plurality of light receiving elements are arranged in a ring shape, a region including a part of the array line that is spaced apart from each other is used as a bright portion irradiated with the detection light, and a part of the array line is used. It has a rotating body in which the area including the other parts excluding the dark part is not irradiated with the detected light. Therefore, at least two light intensity peaks are obtained from the one-dimensional profile of the output signal having the light receiving element power, and the absolute angle can be calculated by specifying the light receiving element corresponding to one light intensity peak.
- the relative angle (reference relative angle) between one light intensity peak and another light intensity peak can be grasped in advance from the shape of the bright part formed on the scale.
- the relative angle between the light intensity peaks at the time of angle detection is deviated from the reference relative angle by a certain amount. Therefore, with this encoder, the amount of relative angle shift is calculated as the correction amount, and the correction amount is added to or subtracted from the absolute angle obtained for one light intensity peak force, so that the irradiation position of the detected light on the scale is the reference. Even when the force is shifted, the absolute angle can be accurately detected.
- the rotating body is formed with a linear light transmission portion, and the bright portion is formed by the detected light that has passed through the light transmission portion.
- the two light intensity peaks are obtained from the one-dimensional profile of the output signal, and the reference relative angle is uniquely 180 °. Therefore, calculation of the correction amount can be facilitated.
- the light transmitting portion has a width on one end side and a width on the other end side different from each other. This makes a difference in the width (half width) of the two light intensity peaks, so that these light intensity peaks can be distinguished. This enables a wide range of encoder angle detection ranges.
- the rotating body is formed with a linear light reflecting portion, and the bright portion is formed by the detected light reflected by the light reflecting portion.
- the light transmitting portion is preferably a slit.
- the configuration of the light transmission part is simple.
- the low cost of the encoder can be realized.
- the light reflecting portion preferably has a width on one end side different from a width on the other end side. This makes a difference in the width (half width) of the two light intensity peaks, so that these light intensity peaks can be distinguished. This enables a wide range of encoder angle detection ranges.
- the light receiving elements are preferably arranged in a staggered pattern along the arrangement line. In this case, the resolution of angle detection can be improved while keeping the scale small.
- a light absorption film is formed in a region excluding the region where the light receiving elements are arranged. According to the configuration, it is possible to reduce the influence of multiple reflections of the detected light, and to improve the SN ratio of the one-dimensional profile of the output signal that can also obtain the light receiving element force.
- the encoder light receiving device includes a scale in which a plurality of light receiving elements are arranged, and an output unit that outputs an output signal based on the light intensity of detected light incident on the light receiving elements.
- the light receiving elements are arranged in a scale along an annular arrangement line, and a light absorption film is formed in an area of the scale excluding the area where the light receiving elements are arranged.
- a rotating body is interposed between the light source device and a scale including a plurality of light receiving elements arranged in an annular shape, and includes an area including a part of the array line that is spaced apart from each other.
- a bright part irradiated with the detection light can be used, and a region including other parts excluding a part of the array line can be a dark part not irradiated with the detection light. Therefore, at least two light intensity peaks are obtained from the one-dimensional profile of the output signal from the light receiving element, and the absolute angle can be calculated by specifying the light receiving element corresponding to one light intensity peak.
- the relative angle (reference relative angle) between one light intensity peak and another light intensity peak can be grasped in advance as the shape force of the bright part formed on the scale.
- the relative angle between the light intensity peaks at the time of angle detection is deviated from the reference relative angle by a certain amount. Therefore, in this encoder light receiving device, the amount of relative angle deviation is calculated as a correction amount, and the correction amount is adjusted to the absolute angle obtained for one light intensity peak force.
- the absolute angle can be accurately detected.
- the output unit preferably includes a shift register that sequentially outputs an output signal based on the light intensity, and the shift register is preferably disposed inside the array line. By arranging the shift register in the extra space inside the array line, it is possible to reduce the scale.
- the light receiving elements are preferably arranged in a zigzag pattern along the arrangement line. In this case, the resolution of angle detection can be improved while keeping the scale small. The invention's effect
- the absolute angle can be detected with high accuracy even when the irradiation position of the detected light on the scale deviates from the reference.
- FIG. 1 is a perspective view showing an encoder according to a first embodiment of the present invention.
- FIG. 2 is a perspective view showing an optical system of the encoder shown in FIG.
- FIG. 3 is a plan view of the light receiving device.
- FIG. 4 is a plan view of a rotating plate with gears.
- FIG. 5 is a diagram showing an arrangement relationship between a light transmission part and a scale.
- FIG. 6 is a flowchart showing processing when an absolute angle of a measurement object is detected by the encoder shown in FIG.
- FIG. 7 is a diagram showing a one-dimensional profile of light intensity of detected light.
- FIG. 8 is a diagram showing an arrangement relationship between a light transmission part and a scale when a positional deviation occurs.
- FIG. 9 is a diagram showing a one-dimensional profile of the light intensity of the detected light when there is a positional shift.
- FIG. 10 is a perspective view showing an encoder according to a second embodiment of the present invention.
- FIG. 11 is a perspective view showing an encoder according to a third embodiment of the present invention.
- FIG. 12 is a perspective view showing an optical system of the encoder shown in FIG.
- FIG. 13 is a plan view of the light receiving device.
- FIG. 14 is a plan view of a slit plate with gears.
- FIG. 15 is a diagram showing an arrangement relationship between slits and scales.
- FIG. 16 is a flowchart showing a process for detecting the absolute angle of the measurement object by the encoder shown in FIG. 11.
- FIG. 17 is a diagram showing a one-dimensional profile of light intensity of light to be detected.
- FIG. 18 is a diagram showing the positional relationship between the slit and the scale when a positional deviation occurs.
- FIG. 19 is a diagram showing a one-dimensional profile of the light intensity of light to be detected when a positional shift has occurred.
- FIG. 20 is a plan view of a slit according to a modification.
- FIG. 1 is a perspective view showing an encoder according to the first embodiment of the present invention.
- An encoder 1 shown in FIG. 1 is a so-called absolute type rotary encoder, and is a device that detects an absolute angle of a measurement object (not shown) such as a steering wheel of an automobile.
- This encoder 1 has a rotating shaft 2 connected to the object to be measured and is fixed to the rotating shaft 2.
- a geared disc 3. The geared disk 3 rotates in the direction of arrow A along with the rotation of the rotating shaft 2 interlocked with the measurement object.
- FIG. 2 is a perspective view showing the optical system S of the encoder 1.
- the optical system S of the encoder 1 is a point light source LED (light source device) 6 that emits detected light, and a light receiving device that receives the detected light (see FIG. 2).
- Encoder light-receiving device) 7 a geared rotating plate (rotating body) 8 meshing with the toothed wheel disc 3, and a pair of parallel lenses 9A and 9B arranged so as to sandwich the geared rotating plate 8 It is composed.
- the light receiving device 7 includes a scale plate 11 in which a plurality of PDs (light receiving elements) 10 are arranged, and an output unit 12 that outputs an output signal from each PD 10. is doing.
- Concentric first array lines L1 and second array lines L2 are set on the scale plate 11, and each PD 10 is arranged in an annular and staggered manner across the array lines LI and L2. .
- Each PD10 is assigned angle information in increments of 0.5 ° clockwise, for example, from the first PD10 (0 °) force to the final PD10 (359.5 °).
- a light absorption film 18 made of, for example, black resin containing carbon is formed by printing or the like in a region excluding the region where the PDs 10 are arranged.
- the output unit 12 includes a plurality (four in this embodiment) of shift registers 13, video lines 14, and a signal processing unit 16.
- Each shift register 13 is arranged in a substantially rectangular shape concentrically with the scale plate 11 on the inner side of each array line LI, L2, and outputs an output signal based on the light intensity of the received detected light to each PD 10.
- a scanning signal for outputting is supplied.
- the video lines 14 are arranged concentrically outside the array lines LI and L2, and output the output signals of as many as PD10 to the signal processing unit 16.
- the signal processing unit 16 outputs the output signal received from each PD 10 via the video line 14 to the outside.
- a drive signal supply line (not shown) to each shift register 13 is connected between, for example, PD10 and PD10.
- the geared rotary plate 8 has a light transmission part 17 that allows a part of the detected light emitted from the LED 6 to pass therethrough.
- the light transmission part 17 is formed in a straight line so as to pass through the center of the geared rotary plate 8, for example, of glass.
- the light transmitting portion 17 is formed so that the width on one end side gradually decreases as the force on one end side is also directed toward the other end side.
- the width Wl is about twice the width W2 on the other end.
- a light absorption film 21 made of the same material as the light absorption film 18 is formed on the surface of the rotating plate 8 with gears in a region excluding the light transmission portion 17.
- the light transmitting portion 17 is rotated around the optical axis X of the detected light as shown in FIG. 1 by the cooperation of the geared disc 3 and the geared rotary plate 8. Rotate in arrow B direction.
- the light to be detected that has passed through the light transmission part 17 is in a straight line like the shape of the light transmission part 17.
- a bright portion 19 to which the detection light is irradiated is formed in a linear region including a portion where and intersect.
- step S01 output signals obtained from each PD 10 are collected, and a one-dimensional profile of the light intensity of the detected light for each PD 10 is acquired (step S01).
- the detected light that has passed through the light transmitting portion 17 is incident on each PD10 arranged in an annular shape at two locations. Therefore, when the one-dimensional profile is analyzed, FIG. As shown, two light intensity peaks PI and P2 that are separated from each other are obtained.
- the light intensity peak P1 since the width W1 at one end of the light transmitting portion 17 is about twice the width W2 at the other end, the light intensity peak P1 has a half-value width that is approximately twice the light intensity peak P2. Have.
- Step S02 based on a predetermined comparison level, as shown in FIG. Measures the peak values PI and P2 (Step S02).
- PD 10 corresponding to the half-value center of the light intensity peak P 1 that has been diminished is taken as a reference point for determining the absolute angle
- PD 10 corresponding to the half-value center of the light intensity peak P 2 is The relative point for determining the relative angle between the light intensity peaks PI and P2.
- the angles of the reference point and the relative point are detected (step S03).
- the relative angle between the reference point and the relative point (hereinafter referred to as the “reference relative angle”) is unambiguous when there is no positional deviation of the light transmission part 17 with respect to the scale plate 11. It is calculated as 180 °.
- the relative angle between the reference point and the relative point at the time of detection is calculated as 180 ° + ⁇ °.
- step S04 when a difference between the reference relative angle and the relative angle at the time of detection occurs, this ex ° is calculated as a correction amount of the angle deviation (step S04). Then, the absolute angle at the reference point is calculated by adding (or subtracting) the angular force correction amount ⁇ ° of the reference point detected in step S03 (step S05).
- the light to be detected is transmitted through the linear light transmitting portion 17 formed on the rotating plate 8 with gears, so that the array lines LI, A bright portion 19 where the detection light is irradiated is formed in a region including a part of L2 that is separated from each other, and a dark portion 20 where the detection light is not irradiated is formed in another region. Therefore, two light intensity peaks PI and ⁇ 2 are obtained from the one-dimensional profile of the output signal from PD 10, and the absolute angle can be calculated by specifying PD10 corresponding to one light intensity peak P1. Monkey.
- the relative angle between the light intensity peaks PI and ⁇ 2 can be uniquely calculated as 180 ° from the shape of the light transmitting portion 17.
- the relative angle between the light intensity peaks PI and ⁇ 2 at the time of angle detection is deviated by a certain amount from the reference relative angle. Therefore, in this encoder 1, the absolute angle deviation calculated from the light intensity peak P1 is calculated by calculating the amount of deviation of the relative angle as a correction amount. By adjusting the correction amount ⁇ ° with respect to the degree, the absolute angle can be detected with high accuracy even when the irradiation position of the light to be detected with respect to the scale plate 11 deviates from the reference force.
- the light transmitting portion 17 is linear, so that the formation thereof is easy, and the low cost of the encoder 1 can be realized.
- the light transmission part 17 is also made of glass, the absolute angle detection accuracy due to lowering of the level of the output signal, etc., even when used for a long time when clogging with dust is less likely to occur than when using a slit. It is possible to suppress the decrease in Further, the light transmitting portion 17 has a width W1 on one end side and a width W2 on the other end side. Therefore, when the one-dimensional profile of the output signal obtained from each PD10 is analyzed, the light intensity peaks PI, ⁇ 2 with different half-value widths are obtained. As a result, the reference point and the relative point can be distinguished from each other, and a wide range of angle detection can be performed over the entire circumference of the scale.
- the shift registers 13 are arranged in a substantially rectangular shape concentrically with the scale plate 11 inside the array lines LI and L2. As described above, the light receiving device 7 can be further reduced in size by arranging the shift registers 13 in the extra space inside the array lines LI and L2.
- the PDs 10 are arranged in a zigzag pattern across the annular array lines LI and L2. Such an arrangement of the PD 10 can improve the angle detection resolution while keeping the scale plate 11 small.
- a light absorption film 18 is formed in a region excluding the region where the PDs 10 are arranged. As a result, the influence of multiple reflection of the detected light can be mitigated, and the SN ratio of the one-dimensional profile of the output signal obtained from each PD 10 can be improved.
- the encoder 30 according to the second embodiment converts the detected light emitted from the LED 6 into the light reflecting part of the rotating plate 31 with gears.
- This is different from the first embodiment in that the light to be detected is transmitted from the light transmitting portion 17 of the geared rotary plate 8 in that it is reflected at 32.
- the geared rotary plate 31 has a light reflecting portion 32 that reflects a part of the detected light emitted from the LED 6.
- the light reflecting portion 32 is formed in a straight line so as to pass through the center of the geared rotary plate 31 by, for example, an aluminum thin film.
- the light reflecting portion 32 is formed so that the width gradually decreases from one end side toward the other end side, similarly to the light transmitting portion 17 in the first embodiment. W3 is about twice the width W4 on the other end.
- a light absorption film 33 made of, for example, black resin containing carbon is formed by printing or the like on portions other than the light reflecting portion 32.
- the LED 6 is arranged in the central portion of the scale plate 11 in the light receiving device 7.
- a linear portion of the detected light that hits the light reflecting portion 32 is on the light receiving device 7 side. Reflect on.
- a bright portion 19 irradiated with the light to be detected is formed in a linear region including a portion intersecting with the end side (see FIG. 5).
- a portion of the detected light that does not hit the light reflecting portion 32 is absorbed by the light absorbing film 33.
- Each PD 10 outputs an output signal based on the light intensity of the received detected light, and is output from the signal processing unit 16 to the outside. Therefore, in this encoder 30 as well, when the one-dimensional profile of the output signal of the detected light is analyzed according to the same procedure as in the first embodiment, the irradiation position of the detected light on the scale plate 11 deviates from the reference. Even in this case, the absolute angle of the measurement object can be detected with high accuracy.
- the linear light reflecting portion 32 is used for forming the bright portion 19 and the dark portion 20, and therefore clogging with dust is less likely to occur as in the first embodiment. Therefore, even when used for a long period of time, it is possible to suppress a decrease in absolute angle detection accuracy due to a decrease in output signal level or the like. Furthermore, scale plate 11 side Since the LED 6 can be placed in the optical system Sa, the optical system Sa can be downsized. In addition, the light reflecting portion 32 has a width W3 on one end side different from a width W4 on the other end side. Therefore, when the one-dimensional profile of the output signal obtained from each PD 10 is analyzed, two light intensity peaks having different half-value widths are obtained as in the first embodiment. As a result, the reference point and the relative point can be distinguished from each other, and a wide range of angles can be detected over the entire circumference of the scale.
- the present invention is not limited to the above embodiment.
- the light absorbing film 21 is formed in a region excluding the light transmitting portion 17 in the rotating plate 8 with gears.
- a film (not shown) may be formed.
- the detected light that does not pass through the light transmitting portion 17 is reflected by the light reflecting film to the opposite side of the light receiving device 7, so that the SN ratio of the one-dimensional profile of the output signal obtained from each PD 10 can be improved. it can.
- the formation pattern of the bright part 19 and the dark part 20 formed on the scale plate 11 may be reversed. That is, in the encoder 1, a light absorbing film (or a light reflecting film) may be formed at the position where the light transmitting part 17 of the geared rotary plate 8 is formed, and the light transmitting part may be formed in other regions. Similarly, in the encoder 30, a light transmission part (or a light absorption film) may be formed at the position where the light reflection film 32 of the geared rotary plate 31 is formed, and a light reflection part may be formed in other regions.
- the one-dimensional profile of the output signal obtained from each PD 10 is based on the two bottoms obtained instead of the intensity light intensity peaks PI and P2 that are reversed from those in the above-described embodiment.
- FIG. 11 is a perspective view showing an embodiment of an encoder according to the present invention.
- An encoder 101 shown in FIG. 11 is a so-called absolute type rotary encoder, and is a device that detects an absolute angle of a measurement object (not shown) such as a steering wheel of an automobile. is there.
- the encoder 101 includes a rotating shaft 102 connected to a measurement object, and a geared disc 103 fixed to the rotating shaft 102.
- the geared disc 103 rotates in the direction of arrow A as the rotating shaft 102 interlocks with the measurement object.
- FIG. 12 is a perspective view showing the optical system Sb of the encoder 101.
- the optical system Sb of the encoder 101 includes a point light source LED (light source device) 106 that emits light to be detected, and a light receiving device that receives the light to be detected. (Light receiving device for encoder) 107, a geared slit plate (rotating body) 108 meshing with the geared disc 103, and a pair of parallel lenses 109A and 109B arranged so as to sandwich the geared slit plate 108 It is configured.
- the light receiving device 107 includes a scale plate 111 in which a plurality of PDs (light receiving elements) 110 are arranged, and an output unit 112 that outputs an output signal from each PD 110.
- Ru Concentric first array lines L101 and second array lines L102 are set at the edge of the scale plate 111, and each PD 110 is annular and staggered across the array lines LI and L2. Has been placed.
- Each PD 110 is assigned angle information from the first PD 110 (0 °) to the final PD 110 (359.5 °), for example, in increments of 0.5 ° clockwise.
- the output unit 112 includes a plurality (four in this embodiment) of shift registers 113, a video line 114, and a signal processing unit 116.
- Each shift register 113 is arranged inside the arrangement lines L101 and L102, concentrically with the scale plate 111, and outputs an output signal based on the light intensity of the received detected light to each PD110. Supply the scanning signal to make it happen.
- the video lines 114 are arranged concentrically outside the array lines L101 and L102, and output signals from the PDs 110 to the signal processing unit 116. Then, the signal processing unit 116 outputs the output signal received from each PD 110 via the video line 114 to the outside.
- a drive signal supply line (not shown) to each shift register 113 is connected between PD 110 and PD 110, for example.
- the geared slit plate 108 has a slit 117 that allows a part of the detected light emitted from the LED 106 to pass therethrough.
- the slit 117 is formed in a straight line so as to pass through the center of the geared slit plate 108.
- the slit 117 has one end The slit width is gradually reduced from the side toward the other end, and the slit width W101 on one end side is about twice the slit width W102 on the other end side.
- the slit 117 When the object to be measured rotates, the slit 117 has an arrow around the optical axis X of the detected light as shown in FIG. 11 due to the cooperation of the geared disc 103 and the geared slit plate 108. Rotate in the B direction.
- the light to be detected that has passed through the slit 117 becomes a straight line similar to the shape of the slit 117, and as shown in FIG. 15, the arrangement lines L101 are arranged at two locations, one end side and the other end side, having different slit widths. , Cross with L102.
- the output signals obtained from each PD 110 are collected, and a one-dimensional profile of the light intensity of the detected light for each PD 110 is acquired (step S101).
- the detected light that has passed through slit 117 is incident at two locations on each PD 110 arranged in an annular shape. As shown, two light intensity peaks P101 and P102 that are separated from each other are obtained. Further, in the encoder 101, the slit width W101 on one end side is approximately twice the slit width W102 on the other end side, so the light intensity peak P101 has a half-value width approximately twice that of the light intensity peak P102. .
- the obtained light intensity peaks P101 and P102 are binary-valued (step S102).
- PD110 corresponding to the half-value center of the binarized light intensity peak P101 is used as a reference point for determining the absolute angle
- PD110 corresponding to the half-value center of the light intensity peak P102 is used as the light intensity peak P101, The relative point for determining the relative angle between P102.
- the angles of the reference point and the relative point are detected (step S103).
- the slit 117 is formed in a straight line. For this reason, the slit 117 is displaced with respect to the scale plate 111! /, N! /, In this case, the relative angle between the reference point and the relative point (hereinafter referred to as “reference relative angle”) is It is calculated as 18 0 ° uniquely.
- reference relative angle the relative angle between the reference point and the relative point
- the relative angle between the reference point and the relative point at the time of detection is calculated as 180 ° + ⁇ °.
- step S 104 when a difference between the reference relative angle and the relative angle at the time of detection occurs, this ex ° is calculated as a correction amount for the angle deviation (step S 104). Then, an absolute angle at the reference point is calculated by adding (or subtracting) the correction amount ⁇ ° from the angle of the reference point detected in step S103 (step S105).
- the encoder 101 detects the detected light that has passed through the straight slit 117 at two places among the plurality of PDs 110 arranged in a ring as a scale.
- the reference relative angle between the reference point corresponding to the light intensity peak P101 of the detected light and the relative point corresponding to the light intensity peak P102 is uniquely 180 °. It can be calculated. Therefore, in the encoder 101, even if the position of the slit 117 relative to the scale plate 111 is displaced, the correction amount is calculated based on the relative angle between the reference point and the relative point at the time of angle detection and the amount of deviation between the reference relative angle. By calculating ⁇ °, the absolute angle of the measurement object can be detected with high accuracy.
- the slit 117 is linear, it is easy to form the slit 117, and the low cost of the encoder 101 can be realized. Further, since the slit 117 has a slit width W101 on one end side and a slit width W102 on the other end side, light intensity peaks P101 and P102 having different half widths are obtained. As a result, the reference point and the relative point can be distinguished from each other, and a wide range of angles can be detected over the entire circumference of the scale.
- PDs 110 are arranged in a zigzag pattern across annular array lines L101 and L102. With such an arrangement of PD110, scale plate 111 can be The angle detection resolution can be improved while keeping the size small.
- the shift registers 113 are arranged in a substantially rectangular shape concentrically with the scale plate 111 inside the array lines L101 and L102. In this way, the light receiving device 107 can be further reduced in size by arranging the shift registers 113 in the extra space inside the array lines L101 and L102.
- the present invention is not limited to the embodiment described above.
- the slit formed in the geared slit plate 108 may have a shape in which one end side and the other end side are separated like a slit 120 shown in FIG.
- the light to be detected does not pass through the central partial force of the geared slit plate 108 and the SZN ratio of the light intensity peaks P101 and P102 is improved, so that the absolute angle of the measurement object can be detected with higher accuracy.
- an AZD converter may be mounted on the light receiving device 107, and the output signal from each PD 110 may be a digital output.
- the slit width W101 on one end side and the slit width W102 on the other end side of the slit 117 may be equal.
- the reference point and the relative point cannot be distinguished, and the angle detection range of the encoder 101 is substantially limited to a range of 180 °.
- a gear or the like (not shown) that rotates the slit plate 108 with the gear by a half turn with respect to one cycle of the disc 103 with the gear may be interposed.
- the encoder according to the present invention passes through a rotating body having a slit, a light source device that emits detected light to the slit, a scale in which a plurality of light receiving elements are arranged, and the slit. And a light receiving device having an output unit that outputs an output signal based on the light intensity of the detected light incident on the light receiving element.
- the light receiving elements are arranged in a scale along an annular arrangement line, and slits are provided.
- the detected light that has passed is characterized in that it intersects the array line at at least two points apart from each other.
- the relative angle deviation amount is calculated as a correction amount, and the correction amount is adjusted with respect to the absolute angle indicated by the reference point, so that even if the slit is displaced relative to the scale, the absolute angle Can be detected with high accuracy.
- the slit is straight, and one end side and the other end side of the detected light that has passed through the slit intersect with the array line. It is easy to form a straight slit, and the low cost of the encoder can be realized.
- the slits have different slit widths on one end side and slit widths on the other end side. In this case, since an output signal having different peaks at the reference point and other points can be obtained, the reference point and other points can be distinguished. As a result, the angle detection range of the encoder can be expanded.
- the light receiving elements are arranged in a staggered pattern along the arrangement line. In this case, the resolution of angle detection can be improved while keeping the scale small.
- a light receiving device for an encoder includes a scale in which a plurality of light receiving elements are arranged, and an output unit that outputs an output signal based on the light intensity of detected light incident on the light receiving elements. Is characterized by being arranged in a scale along a circular arrangement line.
- This encoder light receiving device has a plurality of light receiving elements arranged in a ring as a scale. For this reason, it is possible to detect the light to be detected that has passed through the slit at at least two points apart from each other by interposing the rotating body formed with the slit between the light source device. At this time, if one of the points where the output signal peaks is defined as the reference point for calculating the absolute angle, the relative angle between this reference point and other points (reference relative angle) The shape force of the slit can also be grasped in advance.
- the relative displacement amount of the relative angle is calculated as a correction amount, and the displacement amount of the slit relative to the scale is generated by adjusting the correction amount with respect to the absolute angle indicated by the reference point.
- the absolute angle can be detected with high accuracy.
- the output unit preferably includes a shift register that sequentially outputs an output signal based on the light intensity, and the shift register is preferably disposed inside the array line. By arranging the shift register in the extra space inside the array line, it is possible to reduce the scale.
- the light receiving elements are preferably arranged in a zigzag pattern along the arrangement line. In this case, the resolution of angle detection can be improved while keeping the scale small.
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Abstract
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Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
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KR1020077020404A KR101240792B1 (ko) | 2005-10-13 | 2006-10-10 | 엔코더 및 엔코더용 수광장치 |
EP06811517.9A EP1936331A4 (en) | 2005-10-13 | 2006-10-10 | ENCODER AND LIGHT RECEIVING DEVICE FOR ENCODER |
JP2006553382A JP5068542B2 (ja) | 2005-10-13 | 2006-10-10 | エンコーダ |
US11/883,070 US8044340B2 (en) | 2005-10-13 | 2006-10-10 | Encoder and light receiving device for encoder |
Applications Claiming Priority (2)
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JP2005299068 | 2005-10-13 | ||
JP2005-299068 | 2005-10-13 |
Publications (1)
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WO2007043521A1 true WO2007043521A1 (ja) | 2007-04-19 |
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PCT/JP2006/320204 WO2007043521A1 (ja) | 2005-10-13 | 2006-10-10 | エンコーダ及びエンコーダ用受光装置 |
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US (1) | US8044340B2 (ja) |
EP (1) | EP1936331A4 (ja) |
JP (2) | JP5068542B2 (ja) |
KR (1) | KR101240792B1 (ja) |
CN (1) | CN100578155C (ja) |
WO (1) | WO2007043521A1 (ja) |
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JP2007278925A (ja) * | 2006-04-10 | 2007-10-25 | Matsushita Electric Ind Co Ltd | 回転角度検出装置 |
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JP5068542B2 (ja) | 2005-10-13 | 2012-11-07 | 浜松ホトニクス株式会社 | エンコーダ |
JP2008096205A (ja) * | 2006-10-10 | 2008-04-24 | Hamamatsu Photonics Kk | エンコーダ及びエンコーダ用受光装置 |
JP4945674B2 (ja) * | 2010-11-08 | 2012-06-06 | 株式会社安川電機 | 反射型エンコーダ、サーボモータ及びサーボユニット |
JP5950618B2 (ja) * | 2012-02-24 | 2016-07-13 | キヤノン株式会社 | 光透過部材の形成方法および撮像装置の製造方法 |
KR102043091B1 (ko) * | 2015-03-25 | 2019-12-02 | 쿠앙치 인텔리전트 포토닉 테크놀로지 리미티드 | 광신호 수신장치 |
JP2019158848A (ja) * | 2018-03-16 | 2019-09-19 | 富士電機株式会社 | 絶対位置情報検出装置、及び、絶対位置情報検出装置の制御方法 |
CN110160644B (zh) * | 2018-07-23 | 2024-06-18 | 苏州安必轩微电子技术有限公司 | 一种光电编码器实时光强检测装置 |
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Also Published As
Publication number | Publication date |
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CN101171498A (zh) | 2008-04-30 |
JP2012185175A (ja) | 2012-09-27 |
CN100578155C (zh) | 2010-01-06 |
US20080185505A1 (en) | 2008-08-07 |
EP1936331A1 (en) | 2008-06-25 |
JP5335970B2 (ja) | 2013-11-06 |
JP5068542B2 (ja) | 2012-11-07 |
KR20080056111A (ko) | 2008-06-20 |
US8044340B2 (en) | 2011-10-25 |
JPWO2007043521A1 (ja) | 2009-04-16 |
EP1936331A4 (en) | 2015-12-09 |
KR101240792B1 (ko) | 2013-03-07 |
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