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

Info

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
Authority
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 CN2007800533659A priority Critical patent/CN101720419B/zh
Priority to SE0901553A priority patent/SE533860C2/sv
Priority to US12/663,514 priority patent/US8330097B2/en
Priority to DE112007003533.1T priority patent/DE112007003533B4/de
Publication of WO2008152752A1 publication Critical patent/WO2008152752A1/ja

Links

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
    • G01D5/12—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
    • 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
    • G01D5/26—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)
  • Facsimile Image Signal Circuits (AREA)
  • Image Processing (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
CN2007800533659A CN101720419B (zh) 2007-06-15 2007-10-17 旋转编码器的角度修正方法
SE0901553A SE533860C2 (sv) 2007-06-15 2007-10-17 Vinkelkorrektionsförfarande för en rotationskodare
US12/663,514 US8330097B2 (en) 2007-06-15 2007-10-17 Angular correction method for rotary encoder
DE112007003533.1T DE112007003533B4 (de) 2007-06-15 2007-10-17 Winkelkorrekturverfahren für einen Drehgeber

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

Families Citing this family (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
JP2003254785A (ja) * 2002-02-28 2003-09-10 Fanuc Ltd エンコーダの信号処理装置
JP2005024398A (ja) * 2003-07-02 2005-01-27 Sankyo Seiki Mfg Co Ltd 誤差補正機能付エンコーダ

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6630659B1 (en) * 1994-06-01 2003-10-07 Stridsberg Innovation Ab Position transducer
JP3168451B2 (ja) * 1995-09-24 2001-05-21 株式会社トプコン ロータリーエンコーダ
JP2002013949A (ja) 2000-06-27 2002-01-18 Sokkia Co Ltd アブソリュート式エンコーダ
US7126107B2 (en) * 2003-03-14 2006-10-24 Lexmark International, Inc. Methods and apparatuses for sensing rotational position of a component in a printing device
EP1661405B1 (en) * 2003-08-29 2009-07-01 Koninklijke Philips Electronics N.V. System and method for encoding and decoding enhancement layer data using descriptive model parameters
JP2005134208A (ja) * 2003-10-29 2005-05-26 Fanuc Ltd 光学式ロータリエンコーダ
US7108424B2 (en) * 2004-03-11 2006-09-19 Agilent Technologies, Inc. Method and apparatus for calibration of indirect measurement systems
US7126109B2 (en) * 2004-06-14 2006-10-24 Gsi Group Corporation Encoder scale error compensation employing comparison among multiple detectors
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

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
JP2003254785A (ja) * 2002-02-28 2003-09-10 Fanuc Ltd エンコーダの信号処理装置
JP2005024398A (ja) * 2003-07-02 2005-01-27 Sankyo Seiki Mfg Co Ltd 誤差補正機能付エンコーダ

Cited By (2)

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

Similar Documents

Publication Publication Date Title
WO2008152752A1 (ja) ロータリエンコーダの角度補正方法
EP1593931A4 (en) DIFFERENCE CORRECTION METHOD FOR POSTURE DETERMINATION INSTRUMENT AND DISPLACEMENT MEASUREMENT INSTRUMENT
CN108027249B (zh) 具有功能安全性的转向角度传感器
TW200739038A (en) Method for correction of position detection error
TW200630591A (en) Encoder signal processor and processing method
US11722157B2 (en) Methods, computer programs, devices, and encoders for signal error correction
CN110617760B (zh) 旋转角检测装置的初始设定方法以及初始设定装置
WO2003081168A3 (de) Verfahren zur bestimmung und korrektur von führungsfehlern bei einem koordinatenmessgerät
JP2006029937A (ja) 回転角度検出装置の回転角補正方法
JP2013111775A5 (ja)
EP1979721A4 (en) SYSTEM AND METHOD FOR CALIBRATING AN ABSOLUTE POSITION SENSOR
CN107458553A (zh) 一种船舶吃水值的修正方法
JP4090016B2 (ja) 自己校正型角度検出器
CN104956176A (zh) 用于测量角度的折尺和方法
JP2010145203A5 (ja)
JP2011047841A5 (ja)
JPWO2007055092A1 (ja) エンコーダ信号処理装置
JP2007173986A5 (ja)
WO2008142916A1 (ja) 測定システム、測定方法及びプログラム
CN110986999B (zh) 陀螺仪校漂方法、校漂装置、存储介质、电子设备及无人机
JP2006010568A5 (ja)
JP2005088806A (ja) 操舵制御装置
JP5376338B2 (ja) 回転角検出装置
US8219348B2 (en) Method for calibrating and/or correcting a display device having a needle, the needle being able to move in rotation about an axis of rotation
CN109357639B (zh) 一种光电角度传感装置及使用其测量多圈角度的方法

Legal Events

Date Code Title Description
WWE Wipo information: entry into national phase

Ref document number: 200780053365.9

Country of ref document: CN

121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 07829969

Country of ref document: EP

Kind code of ref document: A1

WWE Wipo information: entry into national phase

Ref document number: 12663514

Country of ref document: US

WWE Wipo information: entry into national phase

Ref document number: 1120070035331

Country of ref document: DE

RET De translation (de og part 6b)

Ref document number: 112007003533

Country of ref document: DE

Date of ref document: 20100610

Kind code of ref document: P

122 Ep: pct application non-entry in european phase

Ref document number: 07829969

Country of ref document: EP

Kind code of ref document: A1