WO2008152752A1 - ロータリエンコーダの角度補正方法 - Google Patents

ロータリエンコーダの角度補正方法 Download PDF

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Publication number
WO2008152752A1
WO2008152752A1 PCT/JP2007/070235 JP2007070235W WO2008152752A1 WO 2008152752 A1 WO2008152752 A1 WO 2008152752A1 JP 2007070235 W JP2007070235 W JP 2007070235W WO 2008152752 A1 WO2008152752 A1 WO 2008152752A1
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WO
WIPO (PCT)
Prior art keywords
angle
calculating
remainder
inclination
jump
Prior art date
Application number
PCT/JP2007/070235
Other languages
English (en)
French (fr)
Inventor
Hayami Kikawa
Satoshi Yanobe
Original Assignee
Sokkia Co., Ltd.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Sokkia Co., Ltd. filed Critical Sokkia Co., Ltd.
Priority to DE112007003533.1T priority Critical patent/DE112007003533B4/de
Priority to CN2007800533659A priority patent/CN101720419B/zh
Priority to US12/663,514 priority patent/US8330097B2/en
Priority to SE0901553A priority patent/SE533860C2/sv
Publication of WO2008152752A1 publication Critical patent/WO2008152752A1/ja

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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
    • G01D18/00—Testing or calibrating apparatus or arrangements provided for in groups G01D1/00 - G01D15/00
    • G01D18/001—Calibrating encoders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
    • G01D5/24471—Error correction
    • G01D5/2449—Error correction using hard-stored calibration data
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
    • G01D5/32—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
    • G01D5/34—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
    • G01D5/347—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells using displacement encoding scales
    • G01D5/3473—Circular or rotary encoders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/26—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
    • G01D5/36—Forming the light into pulses

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Optical Transform (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)
  • Image Processing (AREA)
  • Facsimile Image Signal Circuits (AREA)

Abstract

【課題】ロータリエンコーダの目盛盤の角度目盛の間の角度を内挿計算で求める際に角度とびが発生しないような角度補正方法を提供する。 【解決手段】モデルから算出される位置と実際に読み取った位置Ｐｉとの残差ｒｉを求め、残差ｒｉを角度目盛像番号ｘに関する多項式ｆ（ｘ）に当て嵌めて、残差曲線ｒ＝ｆ（ｘ）を求める残差曲線算出工程（Ｓ２）と、残差曲線の接線の傾きｆ’（ｘｉ）を算出する傾き算出工程（Ｓ４）と、残差ｒｉ及び傾きｆ’（ｘｉ）から角度目盛像位置の補正量Ｃｉを算出し、該補正量Ｃｉを使用して測角値θ０を求め、角度目盛像の組合せを前方側と後方側へ切換えて、測角値θ－１及びθ＋１を求めて、角度とび量を算出する角度とび量算出工程（Ｓ５）と、角度とび量が最小となるように多項式ｆ（ｘ）の次数を決定する次数決定工程（Ｓ７）と、残差及び接線の傾きを記録する角度補正データ記録工程（Ｓ８）とを経て、角度補正データを得る。
PCT/JP2007/070235 2007-06-15 2007-10-17 ロータリエンコーダの角度補正方法 WO2008152752A1 (ja)

Priority Applications (4)

Application Number Priority Date Filing Date Title
DE112007003533.1T DE112007003533B4 (de) 2007-06-15 2007-10-17 Winkelkorrekturverfahren für einen Drehgeber
CN2007800533659A CN101720419B (zh) 2007-06-15 2007-10-17 旋转编码器的角度修正方法
US12/663,514 US8330097B2 (en) 2007-06-15 2007-10-17 Angular correction method for rotary encoder
SE0901553A SE533860C2 (sv) 2007-06-15 2007-10-17 Vinkelkorrektionsförfarande för en rotationskodare

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007-158607 2007-06-15
JP2007158607A JP4824635B2 (ja) 2007-06-15 2007-06-15 ロータリエンコーダの角度補正方法

Publications (1)

Publication Number Publication Date
WO2008152752A1 true WO2008152752A1 (ja) 2008-12-18

Family

ID=40129367

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2007/070235 WO2008152752A1 (ja) 2007-06-15 2007-10-17 ロータリエンコーダの角度補正方法

Country Status (6)

Country Link
US (1) US8330097B2 (ja)
JP (1) JP4824635B2 (ja)
CN (1) CN101720419B (ja)
DE (1) DE112007003533B4 (ja)
SE (1) SE533860C2 (ja)
WO (1) WO2008152752A1 (ja)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112361995A (zh) * 2020-12-02 2021-02-12 四川云盾光电科技有限公司 一种视觉绝对式转动角度测量方法和装置

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* Cited by examiner, † Cited by third party
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JP4824635B2 (ja) * 2007-06-15 2011-11-30 株式会社 ソキア・トプコン ロータリエンコーダの角度補正方法
JP5641746B2 (ja) * 2010-02-12 2014-12-17 株式会社ミツトヨ 光電式エンコーダ
DE102011079961A1 (de) * 2011-07-28 2013-01-31 Dr. Johannes Heidenhain Gmbh Vorrichtung und Verfahren zur Winkelmessung
EP2711663B1 (fr) * 2012-09-25 2015-11-04 Vishay MCB Industrie Dispositif haute précision de mesure magnétique et/ou électromagnétique d'une position angulaire d'un point
US9164159B2 (en) * 2012-12-14 2015-10-20 Apple Inc. Methods for validating radio-frequency test stations
JP6438441B2 (ja) * 2016-08-04 2018-12-12 ファナック株式会社 エンコーダの信号処理装置、エンコーダ、信号処理方法及びプログラム
CN107449460A (zh) * 2017-07-07 2017-12-08 银弗（北京）科技有限公司 一种旋转编码器的补偿方法和补偿系统
CN110959101B (zh) * 2017-07-27 2023-01-17 株式会社尼康 校正装置、编码器装置及其制造方法
CN109211175B (zh) * 2018-09-18 2020-01-31 中国科学院长春光学精密机械与物理研究所 一种直线钢带编码器测角时盲区数据处理方法
CN110849406B (zh) * 2019-11-29 2020-09-18 浙江禾川科技股份有限公司 编码器的测量校准方法、装置、设备及存储介质
CN110940371B (zh) * 2019-12-13 2020-08-21 浙江禾川科技股份有限公司 一种旋转磁电编码器的校准方法、装置及设备
CN111336952B (zh) * 2020-02-26 2022-04-12 北京空间机电研究所 一种感应同步器角度修正的系统、方法及装置
CN113465642B (zh) * 2021-07-02 2022-05-17 济南轲盛自动化科技有限公司 基于姿态模拟的拉线位移编码器数据修正方法及系统

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JPH09319872A (ja) * 1996-05-28 1997-12-12 Matsushita Electric Ind Co Ltd 道路白線検出装置と曲率半径計算装置とナビゲーション装置
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JPH05259548A (ja) * 1992-03-10 1993-10-08 Fujitsu Ltd レーザダイオード電流監視回路の温度補償方法
JPH09319872A (ja) * 1996-05-28 1997-12-12 Matsushita Electric Ind Co Ltd 道路白線検出装置と曲率半径計算装置とナビゲーション装置
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Publication number Priority date Publication date Assignee Title
CN112361995A (zh) * 2020-12-02 2021-02-12 四川云盾光电科技有限公司 一种视觉绝对式转动角度测量方法和装置
CN112361995B (zh) * 2020-12-02 2022-06-24 四川云盾光电科技有限公司 一种视觉绝对式转动角度测量方法和装置

Also Published As

Publication number Publication date
SE0901553L (sv) 2010-03-05
DE112007003533B4 (de) 2014-07-10
SE533860C2 (sv) 2011-02-15
US20100181469A1 (en) 2010-07-22
CN101720419A (zh) 2010-06-02
CN101720419B (zh) 2012-06-27
US20120248300A2 (en) 2012-10-04
DE112007003533T5 (de) 2010-06-10
JP4824635B2 (ja) 2011-11-30
US8330097B2 (en) 2012-12-11
JP2008309689A (ja) 2008-12-25

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