WO2022094959A1 - 角度测量装置、雷达、测量方法及存储介质 - Google Patents

角度测量装置、雷达、测量方法及存储介质 Download PDF

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Publication number
WO2022094959A1
WO2022094959A1 PCT/CN2020/127236 CN2020127236W WO2022094959A1 WO 2022094959 A1 WO2022094959 A1 WO 2022094959A1 CN 2020127236 W CN2020127236 W CN 2020127236W WO 2022094959 A1 WO2022094959 A1 WO 2022094959A1
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Prior art keywords
signal
code track
photoelectric
pulse
zero position
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PCT/CN2020/127236
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English (en)
French (fr)
Inventor
李胜良
潘仑
黄稀荻
李勋
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深圳市大疆创新科技有限公司
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Priority to PCT/CN2020/127236 priority Critical patent/WO2022094959A1/zh
Publication of WO2022094959A1 publication Critical patent/WO2022094959A1/zh

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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

Definitions

  • the present application relates to the technical field of angle measurement, and in particular, to an angle measurement device, a radar, a measurement method and a storage medium.
  • a photoelectric sensor is a sensor that converts a light signal into a current or voltage signal.
  • the device technology is very mature, and with the improvement of the manufacturing process, it is gradually more miniaturized, and it is widely used in application scenarios such as pass detection, rotation detection, non-contact switch, and origin detection.
  • the photoelectric sensor can be divided into transmission type and reflection type according to the relative position of the internal transmitting tube and the receiving tube.
  • the angle measurement solution with zero position detection function requires two photoelectric sensors, one photoelectric sensor is used for incremental pulse counting, and the other photoelectric sensor is used for zero mark detection, and the corresponding cost is relatively high.
  • the present application provides an angle measurement device, a radar, a measurement method and a storage medium.
  • the present application provides an angle measurement device, the device comprising:
  • An optical code disc including a code track, the code track includes a code track area and a zero position area arranged adjacently in the circumferential direction, the zero position area is set on the zero position of the code track, and is used to mark the photoelectric code the zero position of the disk;
  • a photoelectric sensor used for transmitting an optical signal to the code track, receiving the first optical signal when the photoelectric sensor rotates relative to the photoelectric code disc and passing through the code track area, and performing photoelectric conversion to output the first electrical signal, and receiving the second optical signal when the photoelectric sensor rotates relative to the photoelectric code disc and passing through the zero position area, and performing photoelectric conversion to output the second electric signal;
  • the signal processing module is used for determining the angle rotated by the photoelectric sensor relative to the photoelectric code disc according to the first electrical signal and the second electrical signal.
  • the present application provides a radar.
  • the radar includes a base body, a motor on the base body, and an angle measurement device.
  • the angle measurement device includes: a photoelectric encoder, a photoelectric sensor, and a signal processing module, and the photoelectric encoder can rotate with the motor;
  • the optical code disc includes a code track, and the code track includes a code track area and a zero position area arranged adjacently in the circumferential direction, and the zero position area is set on the zero position of the code track for marking the The zero position of the optical encoder;
  • the photoelectric sensor is used to transmit an optical signal to the code track, receive the first optical signal when the photoelectric sensor rotates relative to the photoelectric code disc and pass through the code track area, and perform photoelectric conversion to output the first electrical signal. signal, and receive the second optical signal when the photoelectric sensor rotates through the zero position area relative to the photoelectric encoder, and perform photoelectric conversion to output the second electric signal;
  • the signal processing module is configured to determine the angle rotated by the photoelectric sensor relative to the photoelectric code disc according to the first electrical signal and the second electrical signal.
  • the present application provides an angle measurement method, the method is applicable to the angle measurement device as described above, and the method includes:
  • the photoelectric sensor emits an optical signal to the code track of the photoelectric encoder
  • the photoelectric sensor receives the first optical signal when passing through the code track area, performs photoelectric conversion to output the first electrical signal, and receives the first optical signal passing through the zero the second optical signal in the bit region and perform photoelectric conversion to output the second electrical signal;
  • the signal processing module determines the angle rotated by the photoelectric sensor relative to the photoelectric encoder according to the first electrical signal and the second electrical signal.
  • the present application provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor enables the processor to implement the angle measurement method as described above.
  • Embodiments of the present application provide an angle measurement device, a radar, a measurement method, and a storage medium.
  • the angle measurement device includes: a photoelectric code disc, including a code track, and the code track includes a circumferentially adjacent code track area and a zero position area, which is set on the zero position of the code track and used to mark the zero position of the photoelectric encoder; a photoelectric sensor is used to transmit optical signals to the code track and receive the The photoelectric sensor rotates relative to the photoelectric code disc and passes the first optical signal of the code track area and performs photoelectric conversion to output the first electrical signal, and receives the photoelectric sensor rotates relative to the photoelectric code disc and passes through the zero position area The second optical signal at the time of photoelectric conversion is performed and the second electrical signal is outputted; the signal processing module is used to determine the angle rotated by the photoelectric sensor relative to the photoelectric encoder according to the first electrical signal and the second electrical signal .
  • the zero position area is set on the zero position of the code track, which is used to mark the zero position of the photoelectric code disc and emit optical signals.
  • the same photoelectric sensor can be used to collect the first optical signal when passing through the code track area and the second optical signal when passing through the zero position area.
  • the second optical signal is photoelectrically converted to output a second electrical signal
  • the code track area is different from the zero area
  • the collected first optical signal is different from the second optical signal
  • the first electrical signal is outputted by photoelectric conversion
  • the zero position can be determined based on this, and the angle that the photoelectric sensor has rotated relative to the photoelectric code disc is determined; because the code track of the photoelectric code disc includes the adjacent code track area and zero position in the circumferential direction
  • the same photoelectric sensor can be used to realize the angle measurement solution with the zero position detection function. In this way, the cost can be reduced.
  • FIG. 1 is a schematic structural diagram of an embodiment of an angle measuring device of the present application.
  • FIG. 2 is a schematic structural diagram of an overall embodiment of the photoelectric encoder in the angle measuring device of the present application
  • FIG. 3 is a schematic structural diagram of a partial embodiment of the photoelectric encoder in the angle measuring device of the present application.
  • 4 is a schematic diagram of the relationship between the electrical signal output by the photoelectric sensor and the light amount of the received optical signal
  • FIG. 5 is a schematic structural diagram of another embodiment of the angle measuring device of the present application.
  • FIG. 6 is a schematic structural diagram of another embodiment of the angle measuring device of the present application.
  • FIG. 7 is a schematic diagram of a corresponding relationship between the photoelectric encoder disk and the generated square wave signal in the angle measuring device of the present application;
  • FIG. 8 is a schematic diagram of the principle of square wave signal interpolation in the angle measuring device of the present application.
  • FIG. 9 is a schematic structural diagram of another embodiment of the angle measuring device of the present application.
  • FIG. 10 is a schematic diagram of the zero-position waveform identification of the enlarged black stripe and the waveform comparison before and after interpolation in an embodiment of the angle measuring device of the present application;
  • FIG. 11 is a schematic structural diagram of another embodiment of the angle measuring device of the present application.
  • FIG. 12 is a schematic diagram of using a calibration method to perform delay compensation to eliminate errors caused by delay in an embodiment of the angle measuring device of the present application;
  • FIG. 13 is a schematic structural diagram of an embodiment of the radar of the present application.
  • the angle measurement solution with zero position detection function requires two photoelectric sensors, one photoelectric sensor is used for incremental pulse counting, and the other photoelectric sensor is used for zero mark detection, and the corresponding cost is relatively high.
  • Embodiments of the present application provide an angle measurement device, a radar, a measurement method, and a storage medium.
  • the angle measurement device includes: a photoelectric code disc, including a code track, and the code track includes a circumferentially adjacent code track area and a zero position area, which is set on the zero position of the code track and used to mark the zero position of the photoelectric encoder; a photoelectric sensor is used to transmit optical signals to the code track and receive the The photoelectric sensor rotates relative to the photoelectric code disc and passes the first optical signal of the code track area and performs photoelectric conversion to output the first electrical signal, and receives the photoelectric sensor rotates relative to the photoelectric code disc and passes through the zero position area The second optical signal at the time of photoelectric conversion is performed and the second electrical signal is outputted; the signal processing module is used to determine the angle rotated by the photoelectric sensor relative to the photoelectric encoder according to the first electrical signal and the second electrical signal .
  • the zero position area is set on the zero position of the code track, which is used to mark the zero position of the photoelectric code disc and emit optical signals.
  • the same photoelectric sensor can be used to collect the first optical signal when passing through the code track area and the second optical signal when passing through the zero position area.
  • the second optical signal is photoelectrically converted to output a second electrical signal
  • the code track area is different from the zero area
  • the collected first optical signal is different from the second optical signal
  • the first electrical signal is outputted by photoelectric conversion
  • the zero position can be determined based on this, and the angle that the photoelectric sensor has rotated relative to the photoelectric code disc is determined; because the code track of the photoelectric code disc includes the adjacent code track area and zero position in the circumferential direction
  • the same photoelectric sensor can be used to realize the angle measurement solution with the zero position detection function. In this way, the cost can be reduced.
  • FIG. 1 is a schematic structural diagram of an embodiment of the angle measuring device of the present application
  • FIG. 2 is a structural schematic diagram of an overall embodiment of the photoelectric encoder in the angle measuring device of the present application
  • FIG. 3 is the angle measuring device of the present application.
  • the device 100 includes: a photoelectric code disc 1 (a reflective photoelectric sensor is taken as an example in the figure), a photoelectric sensor 2 and a signal processing module 3 .
  • the optical code disc 1 includes a code track 10, and the code track 10 includes a code track area 11 and a zero position area 12 that are adjacently arranged in the circumferential direction. To mark the zero position of the photoelectric encoder 1.
  • the photoelectric sensor 2 is used to transmit an optical signal to the code track 10, receive the first optical signal when the photoelectric sensor 2 rotates relative to the photoelectric code disc 1 and pass through the code track area 11, and perform photoelectric conversion to output the first optical signal.
  • the signal processing module 3 is configured to determine the angle rotated by the photoelectric sensor 2 relative to the photoelectric code disc 1 according to the first electrical signal and the second electrical signal.
  • the code track 10 may refer to a channel provided on the optical code disc and capable of reflecting or transmitting light, including a code track that reflects light and a code track that transmits light (or does not reflect light).
  • the code track area 11 is a normal area, including a plurality of code tracks with equal intervals of light and dark (or a plurality of code tracks capable of reflecting light and code tracks capable of transmitting light at equal intervals).
  • the zero position area 12 is arranged on the zero position of the code track 10, and is used to mark the zero position of the photoelectric encoder 1; the function of the zero position includes: by detecting and identifying the signal of the zero position area 12, the zero position can be determined, The direction of rotation can be distinguished, the angle of rotation (including absolute angle) can be determined, and so on. Therefore, the code track area 11 and the null area 12 are different, and the code track of the code track area 11 and the null area 12 may also be different, that is, the light coming out (emitted or transmitted) from the code track area 11 and the null area 12 The signal is different.
  • the code track area 11 and the zero position area 12 are arranged on the same circumference and are adjacent to each other, so only one photoelectric sensor 2 is required to rotate relative to the photoelectric code disc 1, and the code track area 11 and the zero position can be equally collected respectively.
  • the width of the code track 10 in the null area 12 is inconsistent with the width of the code track 10 in the code track area 11 . Further, the width of the code track 10 of the zero bit region 12 is greater than the width of the code track 10 of the code track region 11 . This facilitates subsequent identification of the zero position.
  • the code track 10 of the code track area 11 includes a clear code track that does not reflect light and a dark code track that reflects light at equal intervals
  • the code track 10 of the null area 12 includes a clear code track or a dark code track.
  • the code track 10 of the zero bit region 12 and the code track 10 of the adjacent code track region 11 are alternately bright and dark.
  • the non-reflected light of the clear code channel may indicate that the code channel mainly absorbs light, and the reflected light of the clear code channel is negligible compared with the absorbed light, or the clear code channel transmits light, and the reflected light of the dark code channel may refer to the dark code channel.
  • the main reflected light the absorption of light by the dark channel is negligible compared with the reflected light.
  • the material of the optical code disc 1 may include various materials, such as metal (commonly including aluminum), plastic, glass, and so on.
  • the optical code disc 1 can be manufactured with various manufacturing methods to manufacture the code track 10 . In a specific application, an appropriate manufacturing method can be selected according to the material of the photoelectric encoder 1 .
  • the code track in the code track area includes a solid grid code track formed by punching holes and equally spaced with reflected light and a dark grid code track without reflected light
  • the second code track includes a solid grid code track.
  • code channel or dark grid code channel That is, it can be made by punching holes.
  • the dark grid code channel will basically not reflect light but transmit light.
  • the real grid code channel without holes will reflect light. No light will be transmitted;
  • the code track in the code track area includes the real grid code channel and the dark grid code channel at equal intervals, and the code channel in the zero position area includes the solid grid code channel or the dark grid code channel.
  • the optical code disk of metal material such as aluminum disk, often uses the method of punching holes to make the code track.
  • the code track does not have actual holes, but is presented in the form of black and white stripes.
  • Black usually absorbs light and reflects very little light. Relatively speaking, black reflected light can be ignored, and white reflects light. Light, absorbs very little light, relatively speaking, white light absorption can be neglected; therefore, in this embodiment, the black stripes do not reflect light can mean that the black stripes mainly absorb light, the black stripes reflect light can be ignored, and the white stripes reflect light can be It means that the white stripes mainly reflect light, and the absorption of light by the white stripes can be ignored; as long as the difference in reflectivity between the black and white stripes meets the parameter requirements of the photoelectric sensor.
  • the code track in the code track area includes the black stripe code track (mainly used for absorbing light) and the white stripe code track (mainly used for reflecting light) at equal intervals
  • the code track in the null area includes Black striped codeway or white striped codeway.
  • black and white stripes including but not limited to printing process, etching process, stamping process, etc., that is, the code track in the code track area and the code track in the zero position area are made by printing process, etching process or stamping process. Processed. In a specific application, the specific manufacturing process can be determined according to the material of the material.
  • the zero position area 12 is set on the zero position of the code track 10 to mark the zero position of the photoelectric encoder 1 to further simplify the manufacturing method and the subsequent process of identifying the zero position. It is possible to make only one code track 10 in the zero position area 12 (real grid code track or dark grid code track, black stripe code track or white stripe code track), only the width of the code track 10 in the null position area 12 and the code track area
  • the width of the code track 10 of 11 is inconsistent; in general, the width of the code track 10 of the zero bit region 12 can be made larger than the width of the code track 10 of the code track region 11 . That is, during production, a wide real grid code track or dark grid code track or black stripe code track or white stripe code track is produced in the zero position area 12 .
  • the photoelectric sensor 2 and the photoelectric code disc 1 can rotate relative to each other, for example, when the photoelectric code disc 1 does not move, the photoelectric sensor 2 rotates, or the photoelectric sensor 2 does not move and the photoelectric code disc 1 rotates.
  • the photoelectric sensor 2 can be divided into a reflective photoelectric sensor and a transmissive photoelectric sensor according to the relative positions of internal emission and reception.
  • the photoelectric sensor 2 transmits a light signal to the code track 10, and receives the first light when the photoelectric sensor 2 rotates relative to the photoelectric code disc 1 and is reflected by the code track area 11 Signal and photoelectric conversion to output the first electrical signal, and receive the second optical signal when the photoelectric sensor 2 rotates relative to the photoelectric encoder 1 and is reflected by the zero position area 12 and perform photoelectric conversion to output the second electrical signal.
  • the photoelectric sensor 2 transmits a light signal to the code track 10, and receives the first light transmitted by the photoelectric sensor 2 when it rotates relative to the photoelectric code disc 1 and passes through the code track area 11. signal and photoelectrically convert the signal to output the first electrical signal, and receive the second optical signal when the photoelectric sensor 2 rotates relative to the photoelectric encoder 1 and pass through the zero position area 12 and transmit the second optical signal and perform photoelectric conversion to output the second electrical signal.
  • the photoelectric code disc 1 since the photoelectric code disc 1 needs to be placed in the middle of the transmissive photoelectric sensor, the overall size cannot be made very small, so a reflective photoelectric sensor is usually used.
  • the basic working principle of this embodiment can be: the light signal emitted by the photoelectric sensor 2 meets the real grid code of the photoelectric code disc 1.
  • the photoelectric sensor senses the light signal and converts it into an electrical signal;
  • the photoelectric code disc 1 and the photoelectric sensor 2 rotate relative to each other, the photoelectric sensor 2 outputs a pulsed electrical signal, which is processed by the signal processing module 3. After processing, it is converted into angle information to measure the angle.
  • the code track area 11 is a normal area. Therefore, the optical signals from the code track area 11 and the zero position area 12 are different. The converted electrical signals are also different. By detecting the electrical signals, the zero position can be identified accordingly, and the angle that the photoelectric sensor 2 has rotated relative to the photoelectric code disc 1 can be obtained.
  • the angle measuring device of the embodiment of the present application includes: a photoelectric code disc, including a code track, the code track includes a code track area and a zero position area arranged adjacently in the circumferential direction, and the zero position area is set at the zero position of the code track.
  • the photoelectric sensor is used to transmit an optical signal to the code track and receive when the photoelectric sensor rotates relative to the photoelectric code disc and passes through the code track area
  • the first optical signal of the photoelectric sensor is received and the photoelectric conversion is performed to output the first electrical signal
  • the second optical signal is received when the photoelectric sensor rotates relative to the photoelectric encoder and passes through the zero position area, and the photoelectric conversion is performed to output the second electrical signal; signal;
  • the processing module is configured to determine the angle rotated by the photoelectric sensor relative to the photoelectric code disc according to the first electrical signal and the second electrical signal.
  • the zero position area is set on the zero position of the code track, which is used to mark the zero position of the photoelectric code disc and emit optical signals.
  • the same photoelectric sensor can be used to collect the first optical signal when passing through the code track area and the second optical signal when passing through the zero position area.
  • the second optical signal is photoelectrically converted to output a second electrical signal
  • the code track area is different from the zero area
  • the collected first optical signal is different from the second optical signal
  • the first electrical signal is outputted by photoelectric conversion
  • the zero position can be determined based on this, and the angle that the photoelectric sensor has rotated relative to the photoelectric code disc is determined; because the code track of the photoelectric code disc includes the adjacent code track area and zero position in the circumferential direction
  • the same photoelectric sensor can be used to realize the angle measurement solution with the zero position detection function. In this way, the cost can be reduced.
  • the distance between the photoelectric encoder and the photoelectric sensor is a predetermined distance, and the predetermined distance makes the electrical signal output by the photoelectric sensor in the approximate linear steepness of the characteristic curve of the photoelectric sensor. within the unisexual interval.
  • the relationship between the electrical signal output by the photoelectric sensor and the light quantity of the received optical signal is a nonlinear curve, as shown in Figure 4, the abscissa represents the reflector distance, and the ordinate represents the relative output current.
  • the working area falls within an approximate linear and steep unisexual range, which can make the electrical signal output by the optoelectronics steeper, reach the amplifier saturation faster, and can also shrink
  • the edge error between the output waveform and the ideal position as shown in Fig. 12 can further improve the angle measurement deviation.
  • the electrical signal output by the photoelectric sensor may be preprocessed first. That is, the signal processing module 3 includes: a signal preprocessing circuit 31 and a measurement result processing circuit 32 , as shown in FIG. 5 .
  • the signal preprocessing circuit 31 is configured to preprocess the first electrical signal and the second electrical signal to obtain a first square pulse signal and a second square pulse signal.
  • the measurement result processing circuit 32 is configured to determine the zero position according to the second square pulse signal, and obtain the angle rotated by the photoelectric sensor relative to the photoelectric encoder disk according to the zero position and the first square pulse signal.
  • the square pulse signal is a waveform that is relatively common, easy to implement, has prominent regularity, and is relatively easy to identify.
  • the signal preprocessing circuit 31 can preprocess the first electrical signal and the second electrical signal to obtain the first electrical signal.
  • a square pulse signal and a second square pulse signal can simply and conveniently obtain the angle rotated by the photoelectric sensor relative to the photoelectric encoder.
  • the measurement result processing circuit 32 is integrated into a micro-program controller.
  • Microprogrammed controller MCU, Microprogrammed Control Unit
  • microcontroller which is a kind of controller.
  • the measurement result processing circuit 32 is integrated into a micro-program controller.
  • the occupied space can be reduced.
  • the MCU has a series of advantages such as regularity, flexibility, and maintainability, and has been widely used and is relatively easy to implement.
  • the signal preprocessing circuit 31 includes a DC blocking circuit 311 , an operational amplifier 312 and a comparator 313 .
  • the DC blocking circuit 311 is used for removing the DC signal in the first electrical signal and the second electrical signal.
  • the operational amplifier 312 is used for amplifying the first electrical signal and the second electrical signal after being removed by the DC blocking circuit.
  • the comparator 313 is used to debounce the first electrical signal and the second electrical signal amplified by the operational amplifier.
  • the DC blocking circuit 311 can use a DC blocking capacitor to remove the DC signal output by the photoelectric sensor, because the useful signal is an AC signal; the operational amplifier 312 is used to amplify the weak signal processed by the DC blocking circuit 311
  • the comparator 313 can use a hysteresis comparator, which is used to eliminate the distortion of the waveform caused by the difference of the assembly or the device or the rotation process, realize the debounce of the amplified waveform, and finally output a periodic square wave signal.
  • the details of the measurement result processing circuit 32 are mainly described in detail below.
  • the measurement result processing circuit 32 may include: an identification unit 321 and a counting unit 322 .
  • the identification unit 321 is used for comparing the pulse width or duty cycle of the first square pulse signal and the second square pulse signal and identifying the zero position; the counting unit 322 is used for comparing the first square pulse signal and the second square pulse signal. The edges of the second square pulse signal are counted, and combined with the identified zero position, the angle rotated by the photoelectric sensor relative to the photoelectric code disc is obtained.
  • Figure 7 is a diagram of the corresponding relationship between the photoelectric code disc and the generated square wave signal.
  • the upper part of the figure is a partial schematic diagram of the photoelectric code disc.
  • the real grid code track shown in the gray rectangle in the figure is no
  • the part that is hollowed out, the dark grid code channel shown in the white rectangular box in the figure is the hollowed out part, the five dark grid code channels shown by the five parallel white rectangular boxes in the figure are the zero position, the zero position
  • the bit position is the position with a longer hollowed-out length, which can be used as the reference point for calibration;
  • the lower part of the figure is the square wave signal generated by the corresponding position of the photoelectric encoder, which can be used to calculate the relative position of the photoelectric sensor.
  • the relationship between the grid number of the photoelectric encoder and the angular accuracy of the generated square wave signal is as follows:
  • ⁇ represents the angle represented by a square wave signal
  • GN represents the grid number of the photoelectric encoder
  • the design difficulty of the photoelectric encoder and the photoelectric sensor is inversely proportional to the number of grids of the photoelectric encoder, that is, the more grids of the photoelectric encoder, the more difficult the design and implementation of the photoelectric encoder, and the higher the price.
  • the code track on the photoelectric code disc it is also limited by the current processing technology and cost constraints. For example, the current technological limit of punching holes in the photoelectric code disc is 0.3mm, which also means that for a given circle radius, the photoelectric code The maximum number of real grid code tracks and dark grid code tracks is limited, which also limits the highest angle measurement resolution.
  • the square wave signal can be made denser by interpolating the square wave signal, further increasing the number of virtual code channels, and improving the angle measurement resolution, thereby realizing angle measurement. High precision and low cost.
  • Figure 8 is a schematic diagram of square wave signal interpolation.
  • the dark black line signal in the figure represents the square wave signal before interpolation, and the light gray line signal represents the square wave signal after interpolation. Therefore, , the square wave signal interpolation is to insert several equally spaced pulse signals in each pulse width of the known square wave signal according to the required angle measurement accuracy; in the figure, the square wave signal pulse width before each interpolation is interpolated into 3 square wave signal pulses, that is, 3 times the interpolation;
  • a in the figure represents the pulse width value after interpolation;
  • B represents the pulse width value before interpolation, and C represents the zero position as the reference position of the photoelectric encoder. Pulse width value, generally this value is larger, which is easy to identify.
  • the measurement result processing circuit 32 may include: an identification unit 321 and a first count interpolation unit 323, as shown in FIG. 9 .
  • the identification unit 321 is used for comparing the pulse width or duty cycle of the first square pulse signal and the second square pulse signal and identifying the zero position; the first counting and interpolation unit 323 is used for comparing the first square pulse signal The pulse signal and the second square pulse signal are counted and subjected to interpolation processing, and the angle rotated by the photoelectric sensor relative to the photoelectric encoder is obtained by combining the identified zero position and the interpolated pulse signal.
  • the first counting and interpolating unit 323 counts and interpolates the edges of the waveform, and on the other hand, the identifying unit 321 compares the pulse width or duty cycle of the waveform to identify zero bit.
  • the waveform identification of the zero position and the comparison of the waveform before and after interpolation are shown in Figure 10.
  • the upper part of the figure is a partial schematic diagram of the photoelectric encoder.
  • the black striped rectangle in the figure represents the black striped code track
  • the white rectangle in the figure represents the white striped code track
  • the widened black striped rectangle in the figure represents the zero position.
  • the middle half of the figure is the square wave signal received by the measurement result processing circuit 32 .
  • the lower part of the figure is the waveform after interpolation processing by taking 3 times interpolation as an example.
  • the measurement result processing circuit 32 includes: an identification unit 321 , a pulse width prediction unit 324 and a second count interpolation unit 325 , as shown in FIG. 11 .
  • the identification unit 321 is used to compare the pulse width or duty cycle of the first square pulse signal and the second square pulse signal and identify the zero position; the pulse width prediction unit 324 is used to compare the current pulse width according to the saved pulse width. Predict the pulse width to be interpolated to obtain the predicted pulse width to be interpolated at present; the second counting and interpolation unit 325 is configured to determine the reference pulse width of interpolation based on the predicted pulse width and the interpolation multiple, according to the reference pulse width of the interpolation The pulse width performs interpolation processing on the current pulse signal to be interpolated until the interpolation operation ends, and combines the recognized zero position and the interpolated pulse signal to obtain the angle that the photoelectric sensor has rotated relative to the photoelectric code disc.
  • the pulse width prediction unit 324 may be configured to: determine the arithmetic mean value of a plurality of pulse widths previously saved, and use the arithmetic mean value as the current predicted pulse width to be interpolated.
  • the pulse width prediction unit 324 is further configured to determine the arithmetic mean value of the pulse widths of multiple pulse statistics units that have been saved, and the pulse statistics units include multiple basic pulse widths; The average is taken as the predicted pulse width of the current pulse statistics unit to be interpolated.
  • the second counting and interpolating unit 325 is further configured to, based on the predicted pulse width of the pulse statistical unit to be interpolated at present, the number of basic pulse widths included in the pulse statistical unit and the interpolation multiple, determine a reference for interpolation Pulse width, perform interpolation processing on the current pulse statistical unit to be interpolated according to the reference pulse width of the interpolation, until the interpolation operation ends, combine the identified zero position and the interpolated pulse signal to obtain the relative value of the photoelectric sensor to the The angle that the optical encoder disk rotates.
  • the square wave signal pulse width before interpolation is not exactly the same, but varies randomly within a certain range, that is, the B value in Figure 8 is changing.
  • Width A value In order to obtain stable and accurate pulses after interpolation Width A value, need to predict B value.
  • the idea of the method for predicting the pulse width of the wave in front of the interpolation is to predict the pulse width that needs to be interpolated currently by making statistics on the pulses before the interpolation in the past, which specifically includes:
  • the basic pulse widths of different square wave signals have different characteristics, here a plurality of basic pulse widths are taken to form a pulse statistical unit as the basic unit of interpolation, so that the interpolation is more stable and the fluctuation is smaller; it is assumed that the basic pulse before the interpolation
  • the width is B
  • a pulse statistical unit is composed of M basic pulse widths, that is, the width is B ⁇ M.
  • the pulse width value of the previous N pulse statistical units is buffered from the current position, and this N
  • the arithmetic mean of the pulse width values of the pulse statistical units is taken as the predicted value of the pulse width of the current pulse statistical unit (that is, the predicted pulse width of the current pulse statistical unit to be interpolated), that is,
  • W' in formula (1) represents the predicted pulse width of the current pulse statistical unit (that is, composed of M basic pulse widths, and the pulse width is B ⁇ M). Assuming that the required interpolation multiple is Q, then the interpolated
  • the basic pulse width of a square wave signal is:
  • the current square wave signal needs to be interpolated according to the pulse width of A', wherein the values of M and N can be determined according to the characteristics of different optical encoders.
  • the pulse width values of each pulse statistical unit (that is, composed of M basic pulse widths, and the wide pulse width is B ⁇ M) are continuously buffered into N buffer units in a pipeline manner;
  • the prediction method is: for the pulse width prediction value of the nth (1 ⁇ n ⁇ N) pulse statistical unit, the pulse width of n-1 pulse statistical units in front of it is used. The arithmetic mean value of ; for the pulse width prediction value of the nth (n>N) pulse statistical unit, the arithmetic mean of the pulse widths of the N pulse statistical units in front of it is adopted;
  • step (3) If there is still a square wave signal that needs to be interpolated, jump to step (3) to perform interpolation calculation. If there is no square wave signal to be interpolated, end the interpolation operation.
  • the low cost and low design and realization difficulty of the entire angle measurement device can be ensured under the condition of ensuring high angle measurement accuracy.
  • the measurement result processing circuit 32 further includes: a calibration unit.
  • the calibration unit is used for calibrating the edge positions of the first square pulse signal and the second square pulse signal according to the edge error caused by the signal delay to obtain the calibrated first square pulse signal and the second square pulse signal.
  • the unit adopts the method of calibration for delay compensation to eliminate the error caused by delay and improve the test resolution.
  • the upper half of the figure is the signal actually output by the photoelectric sensor
  • the middle half of the figure is the ideal waveform signal after being shaped by the signal preprocessing circuit 31
  • the lower half of the figure is the signal preprocessed The actual waveform after shaping by circuit 31.
  • the counting unit 322 is further configured to count the edges of the calibrated first square pulse signal and the second square pulse signal, and combine the recognized zero position to obtain the relative value of the photoelectric sensor to the photoelectric code. The angle at which the disc has turned.
  • the first counting and interpolating unit 323 is further configured to count and interpolate the calibrated first square pulse signal and the second square pulse signal, and combine the identified zero position and the interpolated pulse signal to obtain The angle that the photoelectric sensor rotates relative to the photoelectric code disc.
  • the pulse width prediction unit 324 is configured to predict the current pulse width to be interpolated according to the saved calibrated pulse width to obtain the current predicted pulse width to be interpolated.
  • FIG. 13 is a schematic structural diagram of an embodiment of the radar of the present application.
  • the radar 200 includes a base body 20, a motor 21 on the base body 20, and an angle measuring device 100.
  • the angle measuring device 100 includes: a photoelectric code disc 1, Photoelectric sensor 2 and signal processing module 3, the photoelectric code disc 1 can rotate with the motor 21.
  • the angle measurement device 100 in this embodiment may be any of the angle measurement devices 100 described above.
  • the relevant content please refer to the relevant content of the above-mentioned angle measurement device, which will not be repeated here.
  • the optical code disc includes a code track, and the code track includes a code track area and a zero position area arranged adjacently in the circumferential direction, and the zero position area is set on the zero position of the code track for marking the The zero position of the photoelectric code disc;
  • the photoelectric sensor is used for emitting an optical signal to the code track, and receives the first optical signal when the photoelectric sensor rotates relative to the photoelectric code disc and passes through the code track area and generates Perform photoelectric conversion to output the first electrical signal, and receive the second optical signal when the photoelectric sensor rotates relative to the photoelectric code disc and pass through the zero position area, and perform photoelectric conversion to output the second electrical signal;
  • the signal processing module using for determining the angle rotated by the photoelectric sensor relative to the photoelectric encoder according to the first electrical signal and the second electrical signal.
  • the width of the code track in the zero bit region is inconsistent with the width of the code track in the code track region.
  • the width of the code track in the zero bit region is greater than the width of the code track in the code track region.
  • the code track in the code track area includes a clear code track that does not reflect light and a dark code track that reflects light at equal intervals
  • the code track in the null area includes a clear code track or a dark code track.
  • the code channel in the code channel area includes a real grid code channel formed by punching holes and reflecting light at equal intervals and a dark grid code channel that does not reflect light, and the code channel in the zero position area includes a solid grid code channel. or dark grid.
  • the code track in the code track area includes a black stripe code track and a white stripe code track at equal intervals
  • the code track in the zero position area includes a black bar code track or a white stripe code track.
  • the code track of the code track area and the code track of the zero position area are processed by a printing process, an etching process or a stamping process.
  • the distance between the photoelectric encoder and the photoelectric sensor is a predetermined distance, and the predetermined distance makes the electrical signal output by the photoelectric sensor within the approximately linear and steep unipolar interval of the characteristic curve of the photoelectric sensor .
  • the signal processing module includes:
  • a signal preprocessing circuit configured to preprocess the first electrical signal and the second electrical signal to obtain a first square pulse signal and a second square pulse signal;
  • the measurement result processing circuit is configured to determine the zero position according to the second square pulse signal, and obtain the angle rotated by the photoelectric sensor relative to the photoelectric code disc according to the zero position and the first square pulse signal.
  • the signal preprocessing circuit includes:
  • a DC blocking circuit for removing the DC signal in the first electrical signal and the second electrical signal
  • an operational amplifier for amplifying the first electrical signal and the second electrical signal removed by the DC blocking circuit
  • the comparator is used for debouncing the first electrical signal and the second electrical signal amplified by the operational amplifier.
  • the measurement result processing circuit includes:
  • an identification unit for comparing the pulse width or duty cycle of the first square pulse signal and the second square pulse signal and identifying the zero position
  • the counting unit is used for counting the edges of the first square pulse signal and the second square pulse signal, and combining the identified zero position to obtain the angle that the photoelectric sensor rotates relative to the photoelectric code disc.
  • the measurement result processing circuit includes:
  • an identification unit for comparing the pulse width or duty cycle of the first square pulse signal and the second square pulse signal and identifying the zero position
  • the first counting and interpolation unit is used for counting and interpolating the first square pulse signal and the second square pulse signal, and combining the identified zero position and the interpolated pulse signal to obtain the relative value of the photoelectric sensor.
  • the angle that the optical code disc has rotated is used for counting and interpolating the first square pulse signal and the second square pulse signal, and combining the identified zero position and the interpolated pulse signal to obtain the relative value of the photoelectric sensor. The angle that the optical code disc has rotated.
  • the measurement result processing circuit includes:
  • an identification unit for comparing the pulse width or duty cycle of the first square pulse signal and the second square pulse signal and identifying the zero position
  • the pulse width prediction unit is used to predict the current pulse width to be interpolated according to the saved pulse width, so as to obtain the current predicted pulse width to be interpolated;
  • a second counting and interpolation unit configured to determine the reference pulse width for interpolation based on the predicted pulse width and the interpolation multiple, and perform interpolation processing on the pulse signal to be interpolated currently according to the reference pulse width for interpolation until the interpolation operation ends, Combining the identified zero position and the interpolated pulse signal, the angle rotated by the photoelectric sensor relative to the photoelectric code disc is obtained.
  • the pulse width prediction unit is further configured to determine the arithmetic mean value of the pulse widths of multiple pulse statistic units that have been saved, and the pulse statistic unit includes multiple basic pulse widths; the arithmetic mean value is used as the current the predicted pulse width of the interpolated pulse statistics unit;
  • the second counting and interpolating unit is further configured to determine a reference pulse for interpolation based on the predicted pulse width of the current pulse statistic unit to be interpolated, the number of basic pulse widths included in the pulse statistic unit, and the interpolation multiple. Width, according to the reference pulse width of the interpolation, perform interpolation processing on the current pulse statistical unit to be interpolated until the interpolation operation ends, and combine the recognized zero position and the interpolated pulse signal to obtain the relative value of the photoelectric sensor to the The angle at which the optical encoder wheel has been rotated.
  • the measurement result processing circuit further includes:
  • a calibration unit configured to calibrate the edge positions of the first square pulse signal and the second square pulse signal according to the edge error caused by the signal delay, to obtain the calibrated first square pulse signal and the second square pulse signal ;
  • the counting unit is also used to count the edges of the calibrated first square pulse signal and the second square pulse signal, and combined with the identified zero position, it is obtained that the photoelectric sensor has rotated relative to the photoelectric code disc. Angle;
  • the first counting and interpolating unit is further configured to count and interpolate the calibrated first square pulse signal and the second square pulse signal, and combine the identified zero position and the interpolated pulse signal to obtain The angle that the photoelectric sensor rotates relative to the photoelectric code disc.
  • the pulse width prediction unit is configured to predict the pulse width to be interpolated at present according to the saved calibrated pulse width to obtain the predicted pulse width to be interpolated at present.
  • the measurement result processing circuit is integrated into a micro-program controller.
  • the photoelectric sensor is a reflective photoelectric sensor.
  • the present application also provides an angle measurement method, which is applicable to the angle measurement device described in any one of the above.
  • an angle measurement method which is applicable to the angle measurement device described in any one of the above.
  • the method includes: the photoelectric sensor emits a light signal to the code track of the photoelectric code disc; controlling the photoelectric code disc and the photoelectric sensor to rotate relative to each other; During the process, the photoelectric sensor receives the first optical signal when passing through the code track area and performs photoelectric conversion to output the first electrical signal, and receives the second optical signal when passing through the zero position area and performs photoelectric conversion to output the first electrical signal. Two electrical signals; the signal processing module determines the angle rotated by the photoelectric sensor relative to the photoelectric code disc according to the first electrical signal and the second electrical signal.
  • the signal processing module includes a signal preprocessing circuit and a measurement result processing circuit, and the method further includes:
  • the signal preprocessing circuit preprocesses the first electrical signal and the second electrical signal to obtain a first square pulse signal and a second square pulse signal;
  • the measurement result processing circuit determines the zero position according to the second square pulse signal, and obtains the angle rotated by the photoelectric sensor relative to the photoelectric encoder according to the zero position and the first square pulse signal.
  • the signal preprocessing circuit includes: a DC blocking circuit, an operational amplifier and a comparator, and the method further includes:
  • the DC blocking circuit removes the DC signal in the first electrical signal and the second electrical signal
  • the operational amplifier amplifies the first electrical signal and the second electrical signal removed by the DC blocking circuit
  • the comparator debounces the first electrical signal and the second electrical signal amplified by the operational amplifier.
  • the measurement result processing circuit includes: an identification unit and a counting unit, and the method further includes:
  • the identifying unit compares the pulse width or duty cycle of the first square pulse signal and the second square pulse signal and identifies the zero position;
  • the counting unit counts the edges of the first square pulse signal and the second square pulse signal, and obtains the angle that the photoelectric sensor rotates relative to the photoelectric code disc in combination with the identified zero position.
  • the measurement result processing circuit includes: an identification unit and a first count interpolation unit, and the method further includes:
  • the identifying unit compares the pulse width or duty cycle of the first square pulse signal and the second square pulse signal and identifies the zero position;
  • the first counting and interpolation unit counts the first square pulse signal and the second square pulse signal and performs interpolation processing, and combines the recognized zero position and the interpolated pulse signal to obtain the relative value of the photoelectric sensor to the The angle that the optical encoder disk rotates.
  • the measurement result processing circuit includes: an identification unit, a pulse width prediction unit and a second count interpolation unit, and the method further includes:
  • the identifying unit compares the pulse width or duty cycle of the first square pulse signal and the second square pulse signal and identifies a zero position
  • the pulse width prediction unit predicts the current pulse width to be interpolated according to the saved pulse width, and obtains the current predicted pulse width to be interpolated;
  • the second counting interpolation unit determines the reference pulse width for interpolation based on the predicted pulse width and the interpolation multiple, and performs interpolation processing on the current pulse signal to be interpolated according to the reference pulse width for interpolation until the interpolation operation ends, combining The recognized zero position and the interpolated pulse signal are used to obtain the angle rotated by the photoelectric sensor relative to the photoelectric code disc.
  • the method also includes:
  • the pulse width prediction unit determines the arithmetic mean value of the pulse widths of multiple pulse statistics units that have been saved, and the pulse statistics unit includes a plurality of basic pulse widths; the arithmetic mean value is used as the current pulse statistics unit to be interpolated The predicted pulse width of ;
  • the second counting and interpolating unit determines the reference pulse width for interpolation based on the predicted pulse width of the current pulse statistic unit to be interpolated, the number of basic pulse widths included in the pulse statistic unit, and the interpolation multiple.
  • the reference pulse width of the interpolation performs interpolation processing on the current pulse statistical unit to be interpolated until the interpolation operation ends, and combines the recognized zero position and the interpolated pulse signal to obtain the rotation of the photoelectric sensor relative to the photoelectric encoder. passing angle.
  • the measurement result processing circuit further includes a calibration unit
  • the method further includes:
  • the calibration unit calibrates the edge positions of the first square pulse signal and the second square pulse signal according to the edge error caused by the signal delay, to obtain the calibrated first square pulse signal and the second square pulse signal;
  • the counting unit counts the edges of the calibrated first square pulse signal and the second square pulse signal, and obtains the angle that the photoelectric sensor rotates relative to the photoelectric code disc in combination with the identified zero position;
  • the first counting and interpolating unit counts the calibrated first square pulse signal and the second square pulse signal and performs interpolation processing, and combines the identified zero position and the interpolated pulse signal to obtain the photoelectric sensor The angle rotated relative to the optical code disc.
  • the pulse width prediction unit predicts the current pulse width to be interpolated according to the saved calibrated pulse width to obtain the current predicted pulse width to be interpolated.
  • the present application also provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor enables the processor to implement the angle measurement method described in any one of the above.
  • the relevant content please refer to the above-mentioned relevant content section, which will not be repeated here.
  • the computer-readable storage medium may be an internal storage unit of the above-mentioned angle measuring device, such as a hard disk or a memory.
  • the computer-readable storage medium may also be an external storage device, such as an equipped plug-in hard disk, smart memory card, secure digital card, flash memory card, and the like.

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Abstract

一种角度测量装置、雷达、测量方法及存储介质，该装置(100)包括：光电码盘(1)、光电传感器(2)以及信号处理模块(3)，光电码盘(1)包括码道(10)，包括周向上相邻设置的码道区域(11)和零位区域(12)，零位区域(12)设置在零位上用于标记光电码盘(1)的零位；光电传感器(2)用于发射光信号，并接收相对转动经过码道区域(11)时的第一光信号并进行光电转换输出第一电信号，以及接收相对转动经过零位区域(12)时的第二光信号并进行光电转换输出第二电信号；信号处理模块(3)用于根据第一电信号和第二电信号确定相对转过的角度。

Description

角度测量装置、雷达、测量方法及存储介质 技术领域
本申请涉及角度测量技术领域，尤其涉及一种角度测量装置、雷达、测量方法及存储介质。
背景技术
光电传感器是一种将光信号转换为电流或电压信号的传感器。目前该器件技术很成熟，随着制造工艺的提升逐渐更加小型化，广泛应用于通过检测、旋转检测、非接触式开关、原点检测等应用场景。光电传感器根据内部发射管与接收管的相对位置又分透射式、反射式两者。
目前利用光电传感器测角的方案大都是增量式的测试方案，由于没有零位检测功能无法测量绝对角度。带零位检测功能的测角方案需要两个光电传感器，一个光电传感器用于增量式的脉冲计数，另一个光电传感器用于零位标志检测，对应成本较高。
发明内容
基于此，本申请提供一种角度测量装置、雷达、测量方法及存储介质。
第一方面，本申请提供一种角度测量装置，所述装置包括：
光电码盘，包括码道，所述码道包括周向上相邻设置的码道区域和零位区域，所述零位区域设置在所述码道的零位上，用于标记所述光电码盘的零位；
光电传感器，用于向所述码道发射光信号，并接收所述光电传感器相对于所述光电码盘转动经过所述码道区域时的第一光信号并进行光电转换输出第一电信号，以及接收光电传感器相对于所述光电码盘转动经过所述零位区域时的第二光信号并进行光电转换输出第二电信号；
信号处理模块，用于根据所述第一电信号和第二电信号确定所述光电传感 器相对于所述光电码盘转过的角度。
第二方面，本申请提供一种雷达，所述雷达包括基体、基体上的电机以及角度测量装置，所述角度测量装置包括：光电码盘、光电传感器以及信号处理模块，所述光电码盘能够随所述电机转动；
所述光电码盘，包括码道，所述码道包括周向上相邻设置的码道区域和零位区域，所述零位区域设置在所述码道的零位上，用于标记所述光电码盘的零位；
所述光电传感器，用于向所述码道发射光信号，并接收所述光电传感器相对于所述光电码盘转动经过所述码道区域时的第一光信号并进行光电转换输出第一电信号，以及接收光电传感器相对于所述光电码盘转动经过所述零位区域时的第二光信号并进行光电转换输出第二电信号；
所述信号处理模块，用于根据所述第一电信号和第二电信号确定所述光电传感器相对于所述光电码盘转过的角度。
第三方面，本申请提供一种角度测量方法，所述方法适用于如上所述的角度测量装置，所述方法包括：
所述光电传感器向所述光电码盘的码道发射光信号；
控制所述光电码盘和所述光电传感器相对转动；
在所述光电码盘和所述光电传感器相对转动的过程中，所述光电传感器接收经过所述码道区域时的第一光信号并进行光电转换输出第一电信号，以及接收经过所述零位区域时的第二光信号并进行光电转换输出第二电信号；
所述信号处理模块根据所述第一电信号和第二电信号确定所述光电传感器相对于所述光电码盘转过的角度。
第四方面，本申请提供一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序被处理器执行时使所述处理器实现如上所述的角度测量方法。
本申请实施例提供了一种角度测量装置、雷达、测量方法及存储介质，所述角度测量装置包括：光电码盘，包括码道，所述码道包括周向上相邻设置的码道区域和零位区域，所述零位区域设置在所述码道的零位上，用于标记所述 光电码盘的零位；光电传感器，用于向所述码道发射光信号，并接收所述光电传感器相对于所述光电码盘转动经过所述码道区域时的第一光信号并进行光电转换输出第一电信号，以及接收光电传感器相对于所述光电码盘转动经过所述零位区域时的第二光信号并进行光电转换输出第二电信号；信号处理模块，用于根据所述第一电信号和第二电信号确定所述光电传感器相对于所述光电码盘转过的角度。由于光电码盘的码道包括周向上相邻设置的码道区域和零位区域，零位区域设置在码道的零位上，用于标记光电码盘的零位，发射光信号，当光电码盘相对光电传感器旋转时，采用同一个光电传感器即可采集到经过码道区域时的第一光信号和经过所述零位区域时的第二光信号，第一光信号经光电转换输出第一电信号，第二光信号经光电转换输出第二电信号，码道区域和零位区域不一样，采集到的第一光信号和第二光信号不一样，经光电转换输出第一电信号和第二电信号不一样，据此即可确定零位，并确定光电传感器相对于光电码盘转过的角度；由于光电码盘的码道包括周向上相邻设置的码道区域和零位区域，采用同一个光电传感器即可实现带零位检测功能的测角方案，通过这种方式，能够降低成本。
应当理解的是，以上的一般描述和后文的细节描述仅是示例性和解释性的，并不能限制本申请。
附图说明
为了更清楚地说明本申请实施例技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本申请角度测量装置一实施例的结构示意图；
图2是本申请角度测量装置中光电码盘整体一实施例的结构示意图；
图3是本申请角度测量装置中光电码盘局部一实施例的结构示意图；
图4是光电传感器输出的电信号与接收到的光信号的光量之间的关系曲线示意图；
图5是本申请角度测量装置另一实施例的结构示意图；
图6是本申请角度测量装置又一实施例的结构示意图；
图7是本申请角度测量装置中光电码盘与产生的方波信号的一对应关系图示意图；
图8是本申请角度测量装置中方波信号插值原理示意图；
图9是本申请角度测量装置又一实施例的结构示意图；
图10是本申请角度测量装置一实施例中加大黑条纹的零位波形标识及插值前后波形对比示意图；
图11是本申请角度测量装置又一实施例的结构示意图；
图12是本申请角度测量装置一实施例中采用校准的方法进行延时回补消除由于延时引起的误差的示意图；
图13是本申请雷达一实施例的结构示意图。
主要元件及符号说明：
100、角度测量装置；
1、光电码盘；10、码道；11、码道区域；12、零位区域；
2、光电传感器；
3、信号处理模块；
31、信号预处理电路；311、隔直电路；312、运算放大器；313、比较器；
32、测量结果处理电路；321、识别单元；322、计数单元；323、第一计数插值单元；324、脉冲宽度预测单元；325、第二计数插值单元；
200、雷达；20、基体；21、电机。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
附图中所示的流程图仅是示例说明，不是必须包括所有的内容和操作/步骤，也不是必须按所描述的顺序执行。例如，有的操作/步骤还可以分解、组合或部分合并，因此实际执行的顺序有可能根据实际情况改变。
目前利用光电传感器测角的方案大都是增量式的测试方案，由于没有零位检测功能无法测量绝对角度。带零位检测功能的测角方案需要两个光电传感器，一个光电传感器用于增量式的脉冲计数，另一个光电传感器用于零位标志检测，对应成本较高。
本申请实施例提供了一种角度测量装置、雷达、测量方法及存储介质，所述角度测量装置包括：光电码盘，包括码道，所述码道包括周向上相邻设置的码道区域和零位区域，所述零位区域设置在所述码道的零位上，用于标记所述光电码盘的零位；光电传感器，用于向所述码道发射光信号，并接收所述光电传感器相对于所述光电码盘转动经过所述码道区域时的第一光信号并进行光电转换输出第一电信号，以及接收光电传感器相对于所述光电码盘转动经过所述零位区域时的第二光信号并进行光电转换输出第二电信号；信号处理模块，用于根据所述第一电信号和第二电信号确定所述光电传感器相对于所述光电码盘转过的角度。由于光电码盘的码道包括周向上相邻设置的码道区域和零位区域，零位区域设置在码道的零位上，用于标记光电码盘的零位，发射光信号，当光电码盘相对光电传感器旋转时，采用同一个光电传感器即可采集到经过码道区域时的第一光信号和经过所述零位区域时的第二光信号，第一光信号经光电转换输出第一电信号，第二光信号经光电转换输出第二电信号，码道区域和零位区域不一样，采集到的第一光信号和第二光信号不一样，经光电转换输出第一电信号和第二电信号不一样，据此即可确定零位，并确定光电传感器相对于光电码盘转过的角度；由于光电码盘的码道包括周向上相邻设置的码道区域和零位区域，采用同一个光电传感器即可实现带零位检测功能的测角方案，通过这种方式，能够降低成本。
下面结合附图，对本申请的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
参见图1至图3，图1是本申请角度测量装置一实施例的结构示意图，图2是本申请角度测量装置中光电码盘整体一实施例的结构示意图，图3是本申请角度测量装置中光电码盘局部一实施例的结构示意图。
所述装置100包括：光电码盘1(图中以反射式的光电传感器为例)、光电传感器2以及信号处理模块3。
光电码盘1包括码道10，所述码道10包括周向上相邻设置的码道区域11和零位区域12，所述零位区域12设置在所述码道10的零位上，用于标记所述光电码盘1的零位。
光电传感器2用于向所述码道10发射光信号，并接收所述光电传感器2相对于所述光电码盘1转动经过所述码道区域11时的第一光信号并进行光电转换输出第一电信号，以及接收光电传感器2相对于所述光电码盘1转动经过所述零位区域12时的第二光信号并进行光电转换输出第二电信号。
信号处理模块3用于根据所述第一电信号和第二电信号确定所述光电传感器2相对于所述光电码盘1转过的角度。
本实施例中，码道10可以是指设置在光电码盘上、能够对光产生反射或透射的通道，包括反射光的码道和透射光(或者不反射光)的码道。码道区域11是正常的区域，包括明暗等间隔相间的多个码道(或者能够反射光的码道和能够透射光的码道等间隔相间的多个码道)。零位区域12设置在所述码道10的零位上，用于标记所述光电码盘1的零位；零位的作用包括：通过检测并识别零位区域12的信号可以确定零位，可以区分转动方向，可以确定转动的角度(包括绝对角度)，等等。因此，码道区域11和零位区域12不一样，码道区域11和零位区域12的码道也可以不一样，即从码道区域11和零位区域12出来(发射或透射)的光信号不一样。码道区域11和零位区域12设置在同一个圆周上，且位置相邻，因此只需要一个光电传感器2相对于所述光电码盘1转动，可以分别同等采集到码道区域11和零位区域12出来(发射或透射)的光信号。
在一实施例中，为了实现码道区域11和零位区域12不一样，所述零位区域12的码道10的宽度与所述码道区域11的码道10的宽度不一致。进一步，所述零位区域12的码道10的宽度大于所述码道区域11的码道10的宽度。这样方便后续识别零位。
在一实施例中，所述码道区域11的码道10包括等间隔相间的不反射光的明码道和反射光的暗码道，所述零位区域12的码道10包括明码道或者暗码道。其中，零位区域12的码道10与相邻的码道区域11的码道10明暗相间。
本实施例中，明码道不反射光可以是指明码道主要吸收光线，与吸收光线 相比明码道反射光线可以忽略不计，或者明码道透射光线，暗码道反射光可以是指暗码道主要反射光线，与反射光线相比暗码道吸收光线可以忽略不计。
其中，光电码盘1的材料可以包括多种材料，例如：金属(常用的包括铝)、塑料、玻璃，等等。光电码盘1可以采用多种制作方式制作码道10。具体应用中，可以根据光电码盘1的材料选择合适的制作方式。
在一实施例中，所述码道区域的码道包括打洞而成、等间隔相间的反射光的实格码道和不反射光的暗格码道，所述第二码道包括实格码道或暗格码道。即，可以通过打洞加工的方式制作，有洞的为暗格码道，暗格码道基本不会反射光线而是透射光线，没有洞的为实格码道，实格码道会反射光线不会透射光线；码道区域的码道包括等间隔相间的实格码道和暗格码道，零位区域的码道包括实格码道或暗格码道。通常情况下，金属材料的光电码盘，例如铝盘，常常采用打洞加工的方式制作码道。
在另一实施例中，码道并没有实实在在的洞，而是通过黑白条纹的方式呈现，黑色通常会吸收光线，反射光线很少，相对来说黑色反射光线可以忽略不计，白色会反射光线，吸收光线很少，相对来说白色吸收光线可以忽略不计；因此本实施例中黑条纹不反射光线可以是指黑条纹主要吸收光线，黑条纹反射光线可以忽略不计，白条纹反射光线可以是指白条纹主要反射光线，白条纹吸收光线可以忽略不计；只要黑白条纹的反光度差异符合光电传感器的参数要求即可。即，所述码道区域的码道包括等间隔相间的黑条纹码道(主要是用于吸收光线)和白条纹码道(主要是用于反射光线)，所述零位区域的码道包括黑条纹码道或白条纹码道。黑白条纹的制作方式很多，包括但不限于印刷工艺、腐蚀工艺、冲压工艺加工等等，即所述码道区域的码道和所述零位区域的码道是通过印刷工艺、腐蚀工艺或冲压工艺加工而成的。具体应用中可以根据材质的材料确定具体的制作工艺。
另外，在保证零位区域12设置在所述码道10的零位上用于标记所述光电码盘1的零位的基础上，为了进一步简化制作方式，简化后续的识别零位的过程，可以只在零位区域12制作一个码道10(实格码道或暗格码道，黑条纹码道或白条纹码道)，只是该零位区域12的码道10的宽度与码道区域11的码道10的宽度不一致；通常情况下，可以使该零位区域12的码道10的宽度大 于码道区域11的码道10的宽度。即制作的时候，在零位区域12制作一个宽的实格码道或暗格码道或黑条纹码道或白条纹码道。
本实施例中，光电传感器2与光电码盘1能够相对转动，例如光电码盘1不动，光电传感器2旋转，或光电传感器2不动，光电码盘1旋转。光电传感器2根据内部发射与接收的相对位置可以分为反射式的光电传感器和透射式的光电传感器。如果是反射式的光电传感器，光电传感器2向所述码道10发射光信号，并接收所述光电传感器2相对于所述光电码盘1转动经过所述码道区域11反射时的第一光信号并进行光电转换输出第一电信号，以及接收光电传感器2相对于所述光电码盘1转动经过所述零位区域12反射时的第二光信号并进行光电转换输出第二电信号。如果是透射式的光电传感器，光电传感器2向所述码道10发射光信号，并接收所述光电传感器2相对于所述光电码盘1转动经过所述码道区域11透射时的第一光信号并进行光电转换输出第一电信号，以及接收光电传感器2相对于所述光电码盘1转动经过所述零位区域12透射时的第二光信号并进行光电转换输出第二电信号。
在一实施例中，由于透射式的光电传感器中间需要放置光电码盘1，整体尺寸无法做的很小，因此通常采用反射式的光电传感器。
以反射式的光电传感器为例，以实格码道和暗格码道的光电码盘为例，本实施例的基本工作原理可以是：光电传感器2发射光信号遇到光电码盘1的实格码道时反射光信号，光电传感器感应到光信号将其转化为电信号；当光电码盘1与光电传感器2做相对转动运行时，光电传感器2输出脉冲的电信号，经信号处理模块3处理后转化为角度信息从而实现测量角度。
由于零位区域12用于标记所述光电码盘1的零位，码道区域11是正常的区域，因此，分别从码道区域11和零位区域12出来的光信号是不一样的，光电转换出来的电信号也是不一样的，检测电信号即可据此识别出零位，并得到光电传感器2相对于所述光电码盘1转过的角度。
本申请实施例的角度测量装置包括：光电码盘，包括码道，所述码道包括周向上相邻设置的码道区域和零位区域，所述零位区域设置在所述码道的零位上，用于标记所述光电码盘的零位；光电传感器，用于向所述码道发射光信号，并接收所述光电传感器相对于所述光电码盘转动经过所述码道区域时的第一 光信号并进行光电转换输出第一电信号，以及接收光电传感器相对于所述光电码盘转动经过所述零位区域时的第二光信号并进行光电转换输出第二电信号；信号处理模块，用于根据所述第一电信号和第二电信号确定所述光电传感器相对于所述光电码盘转过的角度。由于光电码盘的码道包括周向上相邻设置的码道区域和零位区域，零位区域设置在码道的零位上，用于标记光电码盘的零位，发射光信号，当光电码盘相对光电传感器旋转时，采用同一个光电传感器即可采集到经过码道区域时的第一光信号和经过所述零位区域时的第二光信号，第一光信号经光电转换输出第一电信号，第二光信号经光电转换输出第二电信号，码道区域和零位区域不一样，采集到的第一光信号和第二光信号不一样，经光电转换输出第一电信号和第二电信号不一样，据此即可确定零位，并确定光电传感器相对于光电码盘转过的角度；由于光电码盘的码道包括周向上相邻设置的码道区域和零位区域，采用同一个光电传感器即可实现带零位检测功能的测角方案，通过这种方式，能够降低成本。
在一实施例中，所述光电码盘与所述光电传感器之间的距离为预定距离，所述预定距离使所述光电传感器输出的电信号在所述光电传感器的特性曲线的近似线性陡峭的单性区间内。
通常光电传感器输出的电信号与接收到的光信号的光量之间的关系是非线性的曲线，如图4所示，横坐标表示反光体距离，纵坐标表示相对输出电流。本实施例通过选取合理的预定距离并控制各公差链，使工作区落在某一近似线性陡峭的单性区间，这可以使光电输出的电信号更加陡峭，更快达到放大器饱和，也能够缩小如图12所示的输出波形与理想位置的边沿误差，进而能够改善测角偏差。
由于光电传感器输出的电信号存在不需要的杂信号，器件差异性或转动过程引起波形畸变等原因导致不容易识别、判断光电传感器输出的电信号的波形，为了得到规律性比较突出、较为容易识别的波形，在一实施例中，可以先对光电传感器输出的电信号进行预处理。即所述信号处理模块3包括：信号预处理电路31和测量结果处理电路32，如图5所示。
信号预处理电路31用于对所述第一电信号和第二电信号进行预处理，得到第一方形脉冲信号和第二方形脉冲信号。
测量结果处理电路32用于根据所述第二方形脉冲信号确定零位，根据所述零位和所述第一方形脉冲信号得到所述光电传感器相对于所述光电码盘转过的角度。
方形脉冲信号是比较常见、容易实现、规律性比较突出、较为容易识别的波形，本实施例中，信号预处理电路31能够对所述第一电信号和第二电信号进行预处理，得到第一方形脉冲信号和第二方形脉冲信号。通过这种方式，能够使测量结果处理电路32简单、方便地得到所述光电传感器相对于所述光电码盘转过的角度。
在一实施例中，所述测量结果处理电路32集成为微程序控制器。微程序控制器(MCU，Microprogrammed Control Unit)简称微控器，是一种控制器。测量结果处理电路32集成为微程序控制器，一方面能够缩小占用空间，另一方面MCU具有规整性、灵活性、可维护性等一系列优点，并已被广泛地应用，较为容易实现。
在一实施例中，所述信号预处理电路31包括：隔直电路311、运算放大器312以及比较器313。
隔直电路311用于对所述第一电信号和所述第二电信号中的直流信号进行去除。运算放大器312用于对经过所述隔直电路去除后的第一电信号和第二电信号进行放大。比较器313用于对经过所述运算放大器放大后的第一电信号和第二电信号进行消抖。
本实施例中，隔直电路311可以采用隔直电容，用于去除光电传感器输出的直流信号，因为有用信号是交流信号；运算放大器312用于对经过隔直电路311处理后的微弱信号进行放大；比较器313可以采用迟滞比较器，用于消除由于装配或器件的差异性或转动过程中引起的波形的畸变，实现对放大后的波形进行消抖，最后输出周期的方波信号。
下面主要详细说明测量结果处理电路32的细节内容。
参见图6，在一实施例中，所述测量结果处理电路32可以包括：识别单元321和计数单元322。
识别单元321用于对所述第一方形脉冲信号和第二方形脉冲信号的脉宽或占空比进行比较并识别出零位；计数单元322用于对所述第一方形脉冲信号 和第二方形脉冲信号的边沿进行计数，结合识别出的零位，得到所述光电传感器相对于所述光电码盘转过的角度。
如图7所示，图7为光电码盘与产生的方波信号的对应关系图，图中上半部分为光电码盘局部示意图，图中灰色矩形框所示的实格码道即为没有被挖空的部分，图中白色矩形框所示的暗格码道即为被挖空的部分，图中五个并列的白色矩形框所示的五个暗格码道为零位位置，零位位置即是被挖空长度较长的位置，该位置可以作为标定的基准点；图中下半部分即是光电码盘对应位置产生的方波信号，该信号即可用于计算光电传感器相对于光电码盘转过的角度。
由上面的原理可知，光电码盘的格数与生成的方波信号的角度精度的关系如下：
θ＝360°/G N
其中，θ表示一格方波信号表示的角度，G N表示光电码盘的格数；对方波信号的边沿进行计数，结合识别出的零位，即可得到所述光电传感器相对于所述光电码盘转过的角度。
从上面的关系式可知，光电码盘的格数越多，每一格方波信号对应的角度测量精度(即测角分辨率)就越高，即光电码盘的角度测量精度越高。但光电码盘和光电传感器的设计难度与光电码盘的格数成反比，即光电码盘的格数越多，光电码盘的设计和实现难度越大，价格也更高。另外，在制作光电码盘上的码道时，也受限于当前加工工艺及成本限制，例如当前光电码盘打洞的工艺极限是0.3mm，这也意味对于给定的圆周半径，光电码盘实格码道数与暗格码道数最大数量是有限的，这也限制了最高测角分辨率。
为了降低光电码盘的设计和实现难度，同时降低光电码盘的成本，需要设计光电码盘格数较少的光电码盘，但是光电码盘的格数减少了，光电码盘的角度测量精度也会下降；为了提高光电码盘的角度测量精度，可以通过对方波信号插值的方式使得方波信号变得更密，进一步加大虚拟码道的数量，提高测角分辨率，从而实现角度测量高精度与低成本的兼顾。
首先说明方波信号插值原理，如图8所示为方波信号插值示意图，图中的深的黑线信号表示插值前的方波信号，浅的灰线信号表示插值后的方波信号，因此，方波信号插值即是在已知方波信号的每个脉冲宽度内按照要求的测角精 度插入若干个等间距的脉冲信号；图中每个插值前的方波信号脉冲宽度内被插值成了3个方波信号脉冲，即是进行了3倍的插值；图中的A代表插值后的脉冲宽度值；B表示插值前的脉冲宽度值，C表示作为光电码盘基准位置的零位的脉冲宽度值，一般该值较大，便于识别。
因此，在一实施例中，所述测量结果处理电路32可以包括：识别单元321、第一计数插值单元323，如图9所示。
识别单元321用于对所述第一方形脉冲信号和第二方形脉冲信号的脉宽或占空比进行比较并识别出零位；第一计数插值单元323用于对所述第一方形脉冲信号和第二方形脉冲信号进行计数并进行插值处理，结合识别出的零位和插值后的脉冲信号，得到所述光电传感器相对于所述光电码盘转过的角度。
本实施例中，接收到方波信号，一方面第一计数插值单元323对波形的边沿进行计数并插值处理，另外一方面识别单元321对波形的脉宽或占空比进行比较从而识别出零位。
以加大黑条纹制造零位的方法为例，其零位波形标识及插值前后波形对比如图10所示。图中上半部分为光电码盘局部示意图，图中黑色条纹矩形框表示黑条纹码道，图中白色矩形框表示白条纹码道，图中加宽的黑色条纹矩形框表示零位位置。图中中间半部分即是测量结果处理电路32接收到的方波信号。图中下半部分即是以3倍插值为例插值处理后的波形。
由于光电码盘与光电传感器之间的相对转速不稳定，光电传感器输出的脉冲宽度会不断地变化，这会使得插值处理的精度下降。为了提高插值处理的精度，可以预先准确预测脉冲宽度。因此在一实施例中，所述测量结果处理电路32包括：识别单元321、脉冲宽度预测单元324以及第二计数插值单元325，如图11所示。
识别单元321用于对所述第一方形脉冲信号和第二方形脉冲信号的脉宽或占空比进行比较并识别出零位；脉冲宽度预测单元324用于根据已保存的脉冲宽度对当前将要被插值的脉冲宽度进行预测，得到当前将要被插值的预测脉冲宽度；第二计数插值单元325用于基于所述预测脉冲宽度和插值倍数，确定插值的基准脉冲宽度，根据所述插值的基准脉冲宽度对当前将要被插值的脉冲信号进行插值处理，直到插值操作结束，结合识别出的零位和插值后的脉冲信 号，得到所述光电传感器相对于所述光电码盘转过的角度。
其中，所述脉冲宽度预测单元324可以用于：确定前面已保存的多个脉冲宽度的算数平均值，将所述算数平均值作为当前将要被插值的预测脉冲宽度。
在一实施例中，所述脉冲宽度预测单元324还用于，确定已保存的多个脉冲统计单元的脉冲宽度的算数平均值，所述脉冲统计单元包括多个基本脉冲宽度；将所述算数平均值作为当前将要被插值的脉冲统计单元的预测脉冲宽度。所述第二计数插值单元325还用于，基于所述当前将要被插值的脉冲统计单元的预测脉冲宽度、所述脉冲统计单元所包括的基本脉冲宽度的个数和插值倍数，确定插值的基准脉冲宽度，根据所述插值的基准脉冲宽度对当前将要被插值的脉冲统计单元进行插值处理，直到插值操作结束，结合识别出的零位和插值后的脉冲信号，得到所述光电传感器相对于所述光电码盘转过的角度。
由于在实际应用中插值前的方波信号脉冲宽度并不是完全相同的，而是在一定范围内随机变化的，即图8中的B值是在变化的，为了能够得到稳定准确的插值后脉冲宽度A值，需要对B值进行预测。
在本实施例中，插值前方波脉冲宽度预测方法的思路是：通过对过去多个插值前的脉冲做统计来预测当前需要插值的脉冲宽度，具体包括：
由于不同方波信号的基本脉冲宽度具有不同的特性，这里取多个基本脉冲宽度组成一个脉冲统计单元来作为插值的基本单元，从而使得插值更稳定，波动性更小；假设插值前的基本脉冲宽度为B，由M个基本脉冲宽度组成一个脉冲统计单元，即宽度为B×M,为了得到稳定的插值脉冲宽度，从当前位置开始缓存之前N个脉冲统计单元的脉冲宽度值，将这个N个脉冲统计单元的脉冲宽度值的算术平均值作为当前脉冲统计单元的脉冲宽度的预测值(即当前将要被插值的脉冲统计单元的预测脉冲宽度)，即
Figure PCTCN2020127236-appb-000001
式(1)中的W'即代表预测的当前脉冲统计单元(即M个基本脉冲宽度组成，脉冲宽度为B×M)的脉冲宽度，假设需要的插值倍数为Q,那么可得插 值后的方波信号的基本脉冲宽度为：
Figure PCTCN2020127236-appb-000002
即当前方波信号需要按照A'的脉冲宽度进行插值，其中M和N的值可以根据不同的光电码盘的特性来确定。
上述思路可以实现方波信号的实时插值，具体实现流程可以包括如下步骤：
1)启动方波信号插值操作后，首先根据光电码盘的零位区域处方波信号脉冲宽度比较宽的特性识别出方波信号的基准位置；
2)从基准位置开始将每个脉冲统计单元(即M个基本脉冲宽度组成，宽脉冲宽度为B×M)的脉冲宽度值都采用流水线的方式不断地缓存到N个缓存单元中；
3)开始预测当前脉冲统计单元的插值脉脉冲宽度，预测方法为：对于第n个(1≤n≤N)脉冲统计单元的脉冲宽度预测值采用它前面n-1个脉冲统计单元的脉冲宽度的算术平均值；对于第n个(n＞N)脉冲统计单元的脉冲宽度预测值采用它前面N个脉冲统计单元的脉冲宽度的算术平均值；
4)根据预测的当前脉冲统计单元的脉冲宽度值计算插值的基准脉冲宽度，即上面公式(2)所示；
5)然后根据该插值的基准脉冲宽度对当前脉冲统计单元(即M个基本脉冲宽度组成，脉冲宽度为B×M)进行插值；此时需要注意在该脉冲统计单元内插值的次数最多为M×Q，如果当前脉冲统计单元结束和插值次数达到M×Q这两个条件有一个满足，就停止插值，这样会减少出现插值后脉冲宽度差异很大的方波信号；
6)当该脉冲统计单元结束时，将其脉冲宽度值以滑窗的方式存入前面设置的缓存单元中，同时将N个缓存单元中最早缓存进来的那个脉冲宽度值删除掉，始终保持缓存单元中有N个最新存入的脉冲统计单元的脉冲宽度值；
7)如果还有方波信号需要进行插值，就跳转到步骤(3)进行插值计算，如果没有方波信号需要插值就结束插值操作。
通过上述方式，能够在保证角度测量精度较高的情况下，仍然保证整个角度测量装置的低成本和较低的设计实现难度。
在一实施例中，所述测量结果处理电路32还包括：校准单元。
校准单元用于根据信号延时引起的边沿误差对所述第一方形脉冲信号和第二方形脉冲信号的边沿位置进行校准，得到校准后的第一方形脉冲信号和第二方形脉冲信号。
由于光电传感器2与后级的信号预处理电路31的信号延时会导致理想的边沿位置与实际波形位置存在偏差，但是它们的延时相对固定，在测量结果处理电路32进行处理时可以通过校准单元采用校准的方法进行延时回补从而消除由于延时引起的误差，提高测试分辨率。如图12所示，图中上半部分为光电传感器实际输出的信号，图中中间半部分即是经过信号预处理电路31整形后的理想波形信号，图中下半部分即是经过信号预处理电路31整形后的实际波形。
此时，所述计数单元322还用于对校准后的第一方形脉冲信号和第二方形脉冲信号的边沿进行计数，结合识别出的零位，得到所述光电传感器相对于所述光电码盘转过的角度。
或者，所述第一计数插值单元323还用于对校准后的第一方形脉冲信号和第二方形脉冲信号进行计数并进行插值处理，结合识别出的零位和插值后的脉冲信号，得到所述光电传感器相对于所述光电码盘转过的角度。
或者，所述脉冲宽度预测单元324用于根据已保存的校准后的脉冲宽度对当前将要被插值的脉冲宽度进行预测，得到当前将要被插值的预测脉冲宽度。
参见图13，图13是本申请雷达一实施例的结构示意图，所述雷达200包括基体20、基体20上的电机21以及角度测量装置100，所述角度测量装置100包括：光电码盘1、光电传感器2以及信号处理模块3，所述光电码盘1能够随所述电机21转动。需要说明的是，本实施例中的角度测量装置100可以是上述任一项的角度测量装置100，相关内容的详细说明，请参见上述角度测量装置的相关内容，在此不再赘叙。
所述光电码盘，包括码道，所述码道包括周向上相邻设置的码道区域和零位区域，所述零位区域设置在所述码道的零位上，用于标记所述光电码盘的零 位；所述光电传感器，用于向所述码道发射光信号，并接收所述光电传感器相对于所述光电码盘转动经过所述码道区域时的第一光信号并进行光电转换输出第一电信号，以及接收光电传感器相对于所述光电码盘转动经过所述零位区域时的第二光信号并进行光电转换输出第二电信号；所述信号处理模块，用于根据所述第一电信号和第二电信号确定所述光电传感器相对于所述光电码盘转过的角度。
其中，所述零位区域的码道的宽度与所述码道区域的码道的宽度不一致。
其中，所述零位区域的码道的宽度大于所述码道区域的码道的宽度。
其中，所述码道区域的码道包括等间隔相间的不反射光线的明码道和反射光线的暗码道，所述零位区域的码道包括明码道或者暗码道。
其中，所述码道区域的码道包括打洞而成、等间隔相间的反射光线的实格码道和不反射光线的暗格码道，所述零位区域的码道包括实格码道或暗格码道。
其中，所述码道区域的码道包括等间隔相间的黑条纹码道和白条纹码道，所述零位区域的码道包括黑条纹码道或白条纹码道。
其中，所述码道区域的码道和所述零位区域的码道是通过印刷工艺、腐蚀工艺或冲压工艺加工而成的。
其中，所述光电码盘与所述光电传感器之间的距离为预定距离，所述预定距离使所述光电传感器输出的电信号在所述光电传感器的特性曲线的近似线性陡峭的单性区间内。
其中，所述信号处理模块包括：
信号预处理电路，用于对所述第一电信号和第二电信号进行预处理，得到第一方形脉冲信号和第二方形脉冲信号；
测量结果处理电路，用于根据所述第二方形脉冲信号确定零位，根据所述零位和所述第一方形脉冲信号得到所述光电传感器相对于所述光电码盘转过的角度。
其中，所述信号预处理电路包括：
隔直电路，用于对所述第一电信号和所述第二电信号中的直流信号进行去除；
运算放大器，用于对经过所述隔直电路去除后的第一电信号和第二电信号进行放大；
比较器，用于对经过所述运算放大器放大后的第一电信号和第二电信号进行消抖。
其中，所述测量结果处理电路包括：
识别单元，用于对所述第一方形脉冲信号和第二方形脉冲信号的脉宽或占空比进行比较并识别出零位；
计数单元，用于对所述第一方形脉冲信号和第二方形脉冲信号的边沿进行计数，结合识别出的零位，得到所述光电传感器相对于所述光电码盘转过的角度。
其中，所述测量结果处理电路包括：
识别单元，用于对所述第一方形脉冲信号和第二方形脉冲信号的脉宽或占空比进行比较并识别出零位；
第一计数插值单元，用于对所述第一方形脉冲信号和第二方形脉冲信号进行计数并进行插值处理，结合识别出的零位和插值后的脉冲信号，得到所述光电传感器相对于所述光电码盘转过的角度。
其中，所述测量结果处理电路包括：
识别单元，用于对所述第一方形脉冲信号和第二方形脉冲信号的脉宽或占空比进行比较并识别出零位；
脉冲宽度预测单元，用于根据已保存的脉冲宽度对当前将要被插值的脉冲宽度进行预测，得到当前将要被插值的预测脉冲宽度；
第二计数插值单元，用于基于所述预测脉冲宽度和插值倍数，确定插值的基准脉冲宽度，根据所述插值的基准脉冲宽度对当前将要被插值的脉冲信号进行插值处理，直到插值操作结束，结合识别出的零位和插值后的脉冲信号，得到所述光电传感器相对于所述光电码盘转过的角度。
其中，所述脉冲宽度预测单元还用于，确定已保存的多个脉冲统计单元的脉冲宽度的算数平均值，所述脉冲统计单元包括多个基本脉冲宽度；将所述算数平均值作为当前将要被插值的脉冲统计单元的预测脉冲宽度；
所述第二计数插值单元还用于，基于所述当前将要被插值的脉冲统计单元 的预测脉冲宽度、所述脉冲统计单元所包括的基本脉冲宽度的个数和插值倍数，确定插值的基准脉冲宽度，根据所述插值的基准脉冲宽度对当前将要被插值的脉冲统计单元进行插值处理，直到插值操作结束，结合识别出的零位和插值后的脉冲信号，得到所述光电传感器相对于所述光电码盘转过的角度。
其中，所述测量结果处理电路还包括：
校准单元，用于根据信号延时引起的边沿误差对所述第一方形脉冲信号和第二方形脉冲信号的边沿位置进行校准，得到校准后的第一方形脉冲信号和第二方形脉冲信号；
所述计数单元，还用于对校准后的第一方形脉冲信号和第二方形脉冲信号的边沿进行计数，结合识别出的零位，得到所述光电传感器相对于所述光电码盘转过的角度；
或者，所述第一计数插值单元，还用于对校准后的第一方形脉冲信号和第二方形脉冲信号进行计数并进行插值处理，结合识别出的零位和插值后的脉冲信号，得到所述光电传感器相对于所述光电码盘转过的角度。
或者，所述脉冲宽度预测单元，用于根据已保存的校准后的脉冲宽度对当前将要被插值的脉冲宽度进行预测，得到当前将要被插值的预测脉冲宽度。
其中，所述测量结果处理电路集成为微程序控制器。
其中，所述光电传感器为反射式光电传感器。
本申请还提供一种角度测量方法，所述方法适用于如上任一项所述的角度测量装置，相关内容的详细说明请参见上述相关内容部分，在此不再赘叙。
所述方法包括：所述光电传感器向所述光电码盘的码道发射光信号；控制所述光电码盘和所述光电传感器相对转动；在所述光电码盘和所述光电传感器相对转动的过程中，所述光电传感器接收经过所述码道区域时的第一光信号并进行光电转换输出第一电信号，以及接收经过所述零位区域时的第二光信号并进行光电转换输出第二电信号；所述信号处理模块根据所述第一电信号和第二电信号确定所述光电传感器相对于所述光电码盘转过的角度。
其中，所述信号处理模块包括信号预处理电路和测量结果处理电路，所述方法还包括：
所述信号预处理电路对所述第一电信号和第二电信号进行预处理，得到第 一方形脉冲信号和第二方形脉冲信号；
所述测量结果处理电路根据所述第二方形脉冲信号确定零位，根据所述零位和所述第一方形脉冲信号得到所述光电传感器相对于所述光电码盘转过的角度。
其中，所述信号预处理电路包括：隔直电路、运算放大器以及比较器，所述方法还包括：
所述隔直电路对所述第一电信号和所述第二电信号中的直流信号进行去除；
所述运算放大器对经过所述隔直电路去除后的第一电信号和第二电信号进行放大；
所述比较器对经过所述运算放大器放大后的第一电信号和第二电信号进行消抖。
其中，所述测量结果处理电路包括：识别单元和计数单元，所述方法还包括：
所述识别单元对所述第一方形脉冲信号和第二方形脉冲信号的脉宽或占空比进行比较并识别出零位；
所述计数单元对所述第一方形脉冲信号和第二方形脉冲信号的边沿进行计数，结合识别出的零位，得到所述光电传感器相对于所述光电码盘转过的角度。
其中，所述测量结果处理电路包括：识别单元和第一计数插值单元，所述方法还包括：
所述识别单元对所述第一方形脉冲信号和第二方形脉冲信号的脉宽或占空比进行比较并识别出零位；
所述第一计数插值单元对所述第一方形脉冲信号和第二方形脉冲信号进行计数并进行插值处理，结合识别出的零位和插值后的脉冲信号，得到所述光电传感器相对于所述光电码盘转过的角度。
其中，所述测量结果处理电路包括：识别单元、脉冲宽度预测单元以及第二计数插值单元，所述方法还包括：
所述识别单元对所述第一方形脉冲信号和第二方形脉冲信号的脉宽或占 空比进行比较并识别出零位；
所述脉冲宽度预测单元根据已保存的脉冲宽度对当前将要被插值的脉冲宽度进行预测，得到当前将要被插值的预测脉冲宽度；
所述第二计数插值单元基于所述预测脉冲宽度和插值倍数，确定插值的基准脉冲宽度，根据所述插值的基准脉冲宽度对当前将要被插值的脉冲信号进行插值处理，直到插值操作结束，结合识别出的零位和插值后的脉冲信号，得到所述光电传感器相对于所述光电码盘转过的角度。
其中，所述方法还包括：
所述脉冲宽度预测单元确定已保存的多个脉冲统计单元的脉冲宽度的算数平均值，所述脉冲统计单元包括多个基本脉冲宽度；将所述算数平均值作为当前将要被插值的脉冲统计单元的预测脉冲宽度；
所述第二计数插值单元基于所述当前将要被插值的脉冲统计单元的预测脉冲宽度、所述脉冲统计单元所包括的基本脉冲宽度的个数和插值倍数，确定插值的基准脉冲宽度，根据所述插值的基准脉冲宽度对当前将要被插值的脉冲统计单元进行插值处理，直到插值操作结束，结合识别出的零位和插值后的脉冲信号，得到所述光电传感器相对于所述光电码盘转过的角度。
其中，其特征在于，所述测量结果处理电路还包括校准单元，所述方法还包括：
所述校准单元根据信号延时引起的边沿误差对所述第一方形脉冲信号和第二方形脉冲信号的边沿位置进行校准，得到校准后的第一方形脉冲信号和第二方形脉冲信号；
所述计数单元对校准后的第一方形脉冲信号和第二方形脉冲信号的边沿进行计数，结合识别出的零位，得到所述光电传感器相对于所述光电码盘转过的角度；
或者，所述第一计数插值单元对校准后的第一方形脉冲信号和第二方形脉冲信号进行计数并进行插值处理，结合识别出的零位和插值后的脉冲信号，得到所述光电传感器相对于所述光电码盘转过的角度。
或者，所述脉冲宽度预测单元根据已保存的校准后的脉冲宽度对当前将要被插值的脉冲宽度进行预测，得到当前将要被插值的预测脉冲宽度。
本申请还提供一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序被处理器执行时使所述处理器实现如上任一项所述的角度测量方法。相关内容的详细说明请参见上述相关内容部分，在此不再赘叙。
其中，该计算机可读存储介质可以是上述角度测量装置的内部存储单元，例如硬盘或内存。该计算机可读存储介质也可以是外部存储设备，例如配备的插接式硬盘、智能存储卡、安全数字卡、闪存卡，等等。
应当理解，在本申请说明书中所使用的术语仅仅是出于描述特定实施例的目的而并不意在限制本申请。
还应当理解，在本申请说明书和所附权利要求书中使用的术语“和/或”是指相关联列出的项中的一个或多个的任何组合以及所有可能组合，并且包括这些组合。
以上所述，仅为本申请的具体实施例，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到各种等效的修改或替换，这些修改或替换都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以权利要求的保护范围为准。

Claims (43)

  1. 一种角度测量装置，其特征在于，所述装置包括：
    光电码盘，包括码道，所述码道包括周向上相邻设置的码道区域和零位区域，所述零位区域设置在所述码道的零位上，用于标记所述光电码盘的零位；
    光电传感器，用于向所述码道发射光信号，并接收所述光电传感器相对于所述光电码盘转动经过所述码道区域时的第一光信号并进行光电转换输出第一电信号，以及接收光电传感器相对于所述光电码盘转动经过所述零位区域时的第二光信号并进行光电转换输出第二电信号；
    信号处理模块，用于根据所述第一电信号和第二电信号确定所述光电传感器相对于所述光电码盘转过的角度。
  2. 根据权利要求1所述的装置，其特征在于，所述零位区域的码道的宽度与所述码道区域的码道的宽度不一致。
  3. 根据权利要求2所述的装置，其特征在于，所述零位区域的码道的宽度大于所述码道区域的码道的宽度。
  4. 根据权利要求1所述的装置，其特征在于，所述码道区域的码道包括等间隔相间的不反射光线的明码道和反射光线的暗码道，所述零位区域的码道包括明码道或者暗码道。
  5. 根据权利要求4所述的装置，其特征在于，所述码道区域的码道包括打洞而成、等间隔相间的反射光线的实格码道和不反射光线的暗格码道，所述零位区域的码道包括实格码道或暗格码道。
  6. 根据权利要求4所述的装置，其特征在于，所述码道区域的码道包括等间隔相间的黑条纹码道和白条纹码道，所述零位区域的码道包括黑条纹码道或白条纹码道。
  7. 根据权利要求6所述的装置，其特征在于，所述码道区域的码道和所述零位区域的码道是通过印刷工艺、腐蚀工艺或冲压工艺加工而成的。
  8. 根据权利要求1所述的装置，其特征在于，所述光电码盘与所述光电传感器之间的距离为预定距离，所述预定距离使所述光电传感器输出的电信号在所述光电传感器的特性曲线的近似线性陡峭的单性区间内。
  9. 根据权利要求1所述的装置，其特征在于，所述信号处理模块包括：
    信号预处理电路，用于对所述第一电信号和第二电信号进行预处理，得到第一方形脉冲信号和第二方形脉冲信号；
    测量结果处理电路，用于根据所述第二方形脉冲信号确定零位，根据所述零位和所述第一方形脉冲信号得到所述光电传感器相对于所述光电码盘转过的角度。
  10. 根据权利要求9所述的装置，其特征在于，所述信号预处理电路包括：
    隔直电路，用于对所述第一电信号和所述第二电信号中的直流信号进行去除；
    运算放大器，用于对经过所述隔直电路去除后的第一电信号和第二电信号进行放大；
    比较器，用于对经过所述运算放大器放大后的第一电信号和第二电信号进行消抖。
  11. 根据权利要求9所述的装置，其特征在于，所述测量结果处理电路包括：
    识别单元，用于对所述第一方形脉冲信号和第二方形脉冲信号的脉宽或占空比进行比较并识别出零位；
    计数单元，用于对所述第一方形脉冲信号和第二方形脉冲信号的边沿进行计数，结合识别出的零位，得到所述光电传感器相对于所述光电码盘转过的角度。
  12. 根据权利要求9所述的装置，其特征在于，所述测量结果处理电路包括：
    识别单元，用于对所述第一方形脉冲信号和第二方形脉冲信号的脉宽或占空比进行比较并识别出零位；
    第一计数插值单元，用于对所述第一方形脉冲信号和第二方形脉冲信号进行计数并进行插值处理，结合识别出的零位和插值后的脉冲信号，得到所述光电传感器相对于所述光电码盘转过的角度。
  13. 根据权利要求9所述的装置，其特征在于，所述测量结果处理电路包括：
    识别单元，用于对所述第一方形脉冲信号和第二方形脉冲信号的脉宽或占空比进行比较并识别出零位；
    脉冲宽度预测单元，用于根据已保存的脉冲宽度对当前将要被插值的脉冲宽度进行预测，得到当前将要被插值的预测脉冲宽度；
    第二计数插值单元，用于基于所述预测脉冲宽度和插值倍数，确定插值的基准脉冲宽度，根据所述插值的基准脉冲宽度对当前将要被插值的脉冲信号进行插值处理，直到插值操作结束，结合识别出的零位和插值后的脉冲信号，得到所述光电传感器相对于所述光电码盘转过的角度。
  14. 根据权利要求13所述的装置，其特征在于，
    所述脉冲宽度预测单元还用于，确定已保存的多个脉冲统计单元的脉冲宽度的算数平均值，所述脉冲统计单元包括多个基本脉冲宽度；将所述算数平均值作为当前将要被插值的脉冲统计单元的预测脉冲宽度；
    所述第二计数插值单元还用于，基于所述当前将要被插值的脉冲统计单元的预测脉冲宽度、所述脉冲统计单元所包括的基本脉冲宽度的个数和插值倍数，确定插值的基准脉冲宽度，根据所述插值的基准脉冲宽度对当前将要被插值的脉冲统计单元进行插值处理，直到插值操作结束，结合识别出的零位和插值后的脉冲信号，得到所述光电传感器相对于所述光电码盘转过的角度。
  15. 根据权利要求11-13任一项所述的装置，其特征在于，所述测量结果处理电路还包括：
    校准单元，用于根据信号延时引起的边沿误差对所述第一方形脉冲信号和第二方形脉冲信号的边沿位置进行校准，得到校准后的第一方形脉冲信号和第二方形脉冲信号；
    所述计数单元，还用于对校准后的第一方形脉冲信号和第二方形脉冲信号的边沿进行计数，结合识别出的零位，得到所述光电传感器相对于所述光电码盘转过的角度；
    或者，
    所述第一计数插值单元，还用于对校准后的第一方形脉冲信号和第二方形脉冲信号进行计数并进行插值处理，结合识别出的零位和插值后的脉冲信号，得到所述光电传感器相对于所述光电码盘转过的角度。
    或者，
    所述脉冲宽度预测单元，用于根据已保存的校准后的脉冲宽度对当前将要被插值的脉冲宽度进行预测，得到当前将要被插值的预测脉冲宽度。
  16. 根据权利要求9所述的装置，其特征在于，所述测量结果处理电路集成为微程序控制器。
  17. 根据权利要求1所述的装置，其特征在于，所述光电传感器为反射式光电传感器。
  18. 一种雷达，其特征在于，所述雷达包括基体、基体上的电机以及角度测量装置，所述角度测量装置包括：光电码盘、光电传感器以及信号处理模块，所述光电码盘能够随所述电机转动；
    所述光电码盘，包括码道，所述码道包括周向上相邻设置的码道区域和零位区域，所述零位区域设置在所述码道的零位上，用于标记所述光电码盘的零位；
    所述光电传感器，用于向所述码道发射光信号，并接收所述光电传感器相对于所述光电码盘转动经过所述码道区域时的第一光信号并进行光电转换输出第一电信号，以及接收光电传感器相对于所述光电码盘转动经过所述零位区域时的第二光信号并进行光电转换输出第二电信号；
    所述信号处理模块，用于根据所述第一电信号和第二电信号确定所述光电传感器相对于所述光电码盘转过的角度。
  19. 根据权利要求18所述的雷达，其特征在于，所述零位区域的码道的宽度与所述码道区域的码道的宽度不一致。
  20. 根据权利要求19所述的雷达，其特征在于，所述零位区域的码道的宽度大于所述码道区域的码道的宽度。
  21. 根据权利要求18所述的雷达，其特征在于，所述码道区域的码道包括等间隔相间的不反射光线的明码道和反射光线的暗码道，所述零位区域的码道包括明码道或者暗码道。
  22. 根据权利要求21所述的雷达，其特征在于，所述码道区域的码道包括打洞而成、等间隔相间的反射光线的实格码道和不反射光线的暗格码道，所述零位区域的码道包括实格码道或暗格码道。
  23. 根据权利要求21所述的雷达，其特征在于，所述码道区域的码道包括等间隔相间的黑条纹码道和白条纹码道，所述零位区域的码道包括黑条纹码道或白条纹码道。
  24. 根据权利要求23所述的雷达，其特征在于，所述码道区域的码道和所述零位区域的码道是通过印刷工艺、腐蚀工艺或冲压工艺加工而成的。
  25. 根据权利要求18所述的雷达，其特征在于，所述光电码盘与所述光电传感器之间的距离为预定距离，所述预定距离使所述光电传感器输出的电信号在所述光电传感器的特性曲线的近似线性陡峭的单性区间内。
  26. 根据权利要求18所述的雷达，其特征在于，所述信号处理模块包括：
    信号预处理电路，用于对所述第一电信号和第二电信号进行预处理，得到第一方形脉冲信号和第二方形脉冲信号；
    测量结果处理电路，用于根据所述第二方形脉冲信号确定零位，根据所述零位和所述第一方形脉冲信号得到所述光电传感器相对于所述光电码盘转过的角度。
  27. 根据权利要求26所述的雷达，其特征在于，所述信号预处理电路包括：
    隔直电路，用于对所述第一电信号和所述第二电信号中的直流信号进行去除；
    运算放大器，用于对经过所述隔直电路去除后的第一电信号和第二电信号进行放大；
    比较器，用于对经过所述运算放大器放大后的第一电信号和第二电信号进行消抖。
  28. 根据权利要求26所述的雷达，其特征在于，所述测量结果处理电路包括：
    识别单元，用于对所述第一方形脉冲信号和第二方形脉冲信号的脉宽或占空比进行比较并识别出零位；
    计数单元，用于对所述第一方形脉冲信号和第二方形脉冲信号的边沿进行计数，结合识别出的零位，得到所述光电传感器相对于所述光电码盘转过的角度。
  29. 根据权利要求26所述的雷达，其特征在于，所述测量结果处理电路包括：
    识别单元，用于对所述第一方形脉冲信号和第二方形脉冲信号的脉宽或占空比进行比较并识别出零位；
    第一计数插值单元，用于对所述第一方形脉冲信号和第二方形脉冲信号进行计数并进行插值处理，结合识别出的零位和插值后的脉冲信号，得到所述光电传感器相对于所述光电码盘转过的角度。
  30. 根据权利要求26所述的雷达，其特征在于，所述测量结果处理电路包括：
    识别单元，用于对所述第一方形脉冲信号和第二方形脉冲信号的脉宽或占空比进行比较并识别出零位；
    脉冲宽度预测单元，用于根据已保存的脉冲宽度对当前将要被插值的脉冲宽度进行预测，得到当前将要被插值的预测脉冲宽度；
    第二计数插值单元，用于基于所述预测脉冲宽度和插值倍数，确定插值的基准脉冲宽度，根据所述插值的基准脉冲宽度对当前将要被插值的脉冲信号进行插值处理，直到插值操作结束，结合识别出的零位和插值后的脉冲信号，得到所述光电传感器相对于所述光电码盘转过的角度。
  31. 根据权利要求30所述的雷达，其特征在于，
    所述脉冲宽度预测单元还用于，确定已保存的多个脉冲统计单元的脉冲宽度的算数平均值，所述脉冲统计单元包括多个基本脉冲宽度；将所述算数平均值作为当前将要被插值的脉冲统计单元的预测脉冲宽度；
    所述第二计数插值单元还用于，基于所述当前将要被插值的脉冲统计单元的预测脉冲宽度、所述脉冲统计单元所包括的基本脉冲宽度的个数和插值倍数，确定插值的基准脉冲宽度，根据所述插值的基准脉冲宽度对当前将要被插值的脉冲统计单元进行插值处理，直到插值操作结束，结合识别出的零位和插值后的脉冲信号，得到所述光电传感器相对于所述光电码盘转过的角度。
  32. 根据权利要求28-30任一项所述的雷达，其特征在于，所述测量结果处理电路还包括：
    校准单元，用于根据信号延时引起的边沿误差对所述第一方形脉冲信号和 第二方形脉冲信号的边沿位置进行校准，得到校准后的第一方形脉冲信号和第二方形脉冲信号；
    所述计数单元，还用于对校准后的第一方形脉冲信号和第二方形脉冲信号的边沿进行计数，结合识别出的零位，得到所述光电传感器相对于所述光电码盘转过的角度；
    或者，
    所述第一计数插值单元，还用于对校准后的第一方形脉冲信号和第二方形脉冲信号进行计数并进行插值处理，结合识别出的零位和插值后的脉冲信号，得到所述光电传感器相对于所述光电码盘转过的角度。
    或者，
    所述脉冲宽度预测单元，用于根据已保存的校准后的脉冲宽度对当前将要被插值的脉冲宽度进行预测，得到当前将要被插值的预测脉冲宽度。
  33. 根据权利要求26所述的雷达，其特征在于，所述测量结果处理电路集成为微程序控制器。
  34. 根据权利要求18所述的雷达，其特征在于，所述光电传感器为反射式光电传感器。
  35. 一种角度测量方法，其特征在于，所述方法适用于权利要求1-17任一项所述的角度测量装置，所述方法包括：
    所述光电传感器向所述光电码盘的码道发射光信号；
    控制所述光电码盘和所述光电传感器相对转动；
    在所述光电码盘和所述光电传感器相对转动的过程中，所述光电传感器接收经过所述码道区域时的第一光信号并进行光电转换输出第一电信号，以及接收经过所述零位区域时的第二光信号并进行光电转换输出第二电信号；
    所述信号处理模块根据所述第一电信号和第二电信号确定所述光电传感器相对于所述光电码盘转过的角度。
  36. 根据权利要求35所述的方法，其特征在于，所述信号处理模块包括信号预处理电路和测量结果处理电路，所述方法还包括：
    所述信号预处理电路对所述第一电信号和第二电信号进行预处理，得到第一方形脉冲信号和第二方形脉冲信号；
    所述测量结果处理电路根据所述第二方形脉冲信号确定零位，根据所述零位和所述第一方形脉冲信号得到所述光电传感器相对于所述光电码盘转过的角度。
  37. 根据权利要求36所述的方法，其特征在于，所述信号预处理电路包括：隔直电路、运算放大器以及比较器，所述方法还包括：
    所述隔直电路对所述第一电信号和所述第二电信号中的直流信号进行去除；
    所述运算放大器对经过所述隔直电路去除后的第一电信号和第二电信号进行放大；
    所述比较器对经过所述运算放大器放大后的第一电信号和第二电信号进行消抖。
  38. 根据权利要求36所述的方法，其特征在于，所述测量结果处理电路包括：识别单元和计数单元，所述方法还包括：
    所述识别单元对所述第一方形脉冲信号和第二方形脉冲信号的脉宽或占空比进行比较并识别出零位；
    所述计数单元对所述第一方形脉冲信号和第二方形脉冲信号的边沿进行计数，结合识别出的零位，得到所述光电传感器相对于所述光电码盘转过的角度。
  39. 根据权利要求36所述的方法，其特征在于，所述测量结果处理电路包括：识别单元和第一计数插值单元，所述方法还包括：
    所述识别单元对所述第一方形脉冲信号和第二方形脉冲信号的脉宽或占空比进行比较并识别出零位；
    所述第一计数插值单元对所述第一方形脉冲信号和第二方形脉冲信号进行计数并进行插值处理，结合识别出的零位和插值后的脉冲信号，得到所述光电传感器相对于所述光电码盘转过的角度。
  40. 根据权利要求36所述的方法，其特征在于，所述测量结果处理电路包括：识别单元、脉冲宽度预测单元以及第二计数插值单元，所述方法还包括：
    所述识别单元对所述第一方形脉冲信号和第二方形脉冲信号的脉宽或占空比进行比较并识别出零位；
    所述脉冲宽度预测单元根据已保存的脉冲宽度对当前将要被插值的脉冲宽度进行预测，得到当前将要被插值的预测脉冲宽度；
    所述第二计数插值单元基于所述预测脉冲宽度和插值倍数，确定插值的基准脉冲宽度，根据所述插值的基准脉冲宽度对当前将要被插值的脉冲信号进行插值处理，直到插值操作结束，结合识别出的零位和插值后的脉冲信号，得到所述光电传感器相对于所述光电码盘转过的角度。
  41. 根据权利要求40所述的方法，其特征在于，所述方法还包括：
    所述脉冲宽度预测单元确定已保存的多个脉冲统计单元的脉冲宽度的算数平均值，所述脉冲统计单元包括多个基本脉冲宽度；将所述算数平均值作为当前将要被插值的脉冲统计单元的预测脉冲宽度；
    所述第二计数插值单元基于所述当前将要被插值的脉冲统计单元的预测脉冲宽度、所述脉冲统计单元所包括的基本脉冲宽度的个数和插值倍数，确定插值的基准脉冲宽度，根据所述插值的基准脉冲宽度对当前将要被插值的脉冲统计单元进行插值处理，直到插值操作结束，结合识别出的零位和插值后的脉冲信号，得到所述光电传感器相对于所述光电码盘转过的角度。
  42. 根据权利要求38-40任一项所述的方法，其特征在于，所述测量结果处理电路还包括校准单元，所述方法还包括：
    所述校准单元根据信号延时引起的边沿误差对所述第一方形脉冲信号和第二方形脉冲信号的边沿位置进行校准，得到校准后的第一方形脉冲信号和第二方形脉冲信号；
    所述计数单元对校准后的第一方形脉冲信号和第二方形脉冲信号的边沿进行计数，结合识别出的零位，得到所述光电传感器相对于所述光电码盘转过的角度；
    或者，
    所述第一计数插值单元对校准后的第一方形脉冲信号和第二方形脉冲信号进行计数并进行插值处理，结合识别出的零位和插值后的脉冲信号，得到所述光电传感器相对于所述光电码盘转过的角度。
    或者，
    所述脉冲宽度预测单元根据已保存的校准后的脉冲宽度对当前将要被插 值的脉冲宽度进行预测，得到当前将要被插值的预测脉冲宽度。
  43. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质存储有计算机程序，所述计算机程序被处理器执行时使所述处理器实现如权利要求35-42任一项所述的角度测量方法。
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