WO2023028967A1 - 绝对式位置测量装置 - Google Patents

绝对式位置测量装置 Download PDF

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Publication number
WO2023028967A1
WO2023028967A1 PCT/CN2021/116319 CN2021116319W WO2023028967A1 WO 2023028967 A1 WO2023028967 A1 WO 2023028967A1 CN 2021116319 W CN2021116319 W CN 2021116319W WO 2023028967 A1 WO2023028967 A1 WO 2023028967A1
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absolute
position information
code
incremental
cabs
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PCT/CN2021/116319
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English (en)
French (fr)
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薛颖奇
石忠东
朱书雅
仲婷婷
孟凯
陈江虎
宋修进
李晨骋
万培迪
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北京精雕科技集团有限公司
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Priority to PCT/CN2021/116319 priority Critical patent/WO2023028967A1/zh
Publication of WO2023028967A1 publication Critical patent/WO2023028967A1/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
    • 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

Definitions

  • the invention relates to the technical field of measurement, in particular to an absolute position measuring device.
  • position measuring devices can provide angle or length information, they are increasingly used in many fields such as CNC machine tools, robots, and industrial automation.
  • the incremental type includes at least two code channels, an incremental code channel and a reference code channel. Among them, the incremental code track is evenly marked, and it is necessary to combine the zero signal generated by the reference code track to obtain angle or position information.
  • the incremental type is characterized by simple structure, quick response, and easy miniaturization, but there is a phenomenon of error accumulation, which will easily cause data loss when encountering a power failure, and it needs to move left and right to obtain the zero signal when power is turned on.
  • the absolute type has a fixed zero point, the absolute position information can be obtained when the power is turned on, the anti-interference ability is strong, and there is no cumulative error.
  • Absolute codes mainly include Gray codes, pseudo-random codes and Manchester codes. Due to the large number of code channels and the dense arrangement of reading units along the radial direction, the Gray code coding method is not easy to be miniaturized, and has almost been eliminated by the market in recent years.
  • pseudo-random codes to index incremental code tracks is the mainstream coding scheme for absolute position measuring devices.
  • the pseudo-random code is unique in its coding sequence. By reading the index code track information through the photoelectric sensor, the incremental code track position corresponding to the current measuring device can be known, and the incremental position information can be further subdivided to obtain More precise location information.
  • the pseudo-random code width must be consistent with the incremental code width, otherwise accurate indexing cannot be achieved.
  • the object of the present invention is to provide an absolute position measuring device, aiming to solve the above-mentioned problems in the prior art.
  • the invention provides an absolute position measuring device, comprising:
  • an absolute code track comprising a non-periodically arranged sequence of symbols having a first characteristic and a second characteristic
  • an incremental code track comprising a periodically arranged sequence of symbols having a first characteristic and a second characteristic
  • the absolute code reading module is used to scan the code element sequence of the absolute code track through the sensing unit, and generate an initial effective absolute code through operation;
  • the absolute code correction module is used to analyze and process the initial effective absolute code to obtain the corrected final effective absolute code, and perform calculation or table lookup on the final effective absolute code to obtain rough absolute position information;
  • Absolute code track incremental position information generating module used to analyze and calculate the initial effective absolute code to obtain position information within a single cycle of the absolute code track;
  • the primary high-resolution position information generation module is used to combine the position information within a single cycle of the absolute code track with the rough absolute position information to obtain primary high-resolution absolute position information, and use the high-resolution absolute position information to Incremental code tracks are indexed to obtain higher resolution position information.
  • the incremental code track position information generation module is used to process the analog signal generated by scanning the incremental code track to obtain sine and cosine signals, and generate the position information of the incremental code track in a single cycle through subdivision operations;
  • the advanced high-resolution position information generation module is used to index the primary high-resolution absolute position information to the incremental code track reticle period, and combine the position information within a single period of the incremental code track to generate a higher-resolution absolute position information. location information.
  • Adopting the embodiment of the present invention has the advantages of both absolute and incremental measurements, and high-resolution position measurement results can be obtained after power-on.
  • the position information generated by the absolute code track and the position information generated by the incremental code track can be Perform mutual verification to improve the accuracy of position measurement.
  • FIG. 1 is a schematic diagram of an absolute position measuring device according to an embodiment of the present invention.
  • Fig. 2a is a schematic diagram of scheme 1 of an absolute code path and an incremental code path according to an embodiment of the present invention
  • Fig. 2b is a schematic diagram of scheme 2 of the absolute code path and the incremental code path according to the embodiment of the present invention
  • Fig. 3 is a schematic diagram of an analog signal generated by a scanning element scanning a single code track measurement reference unit according to an embodiment of the present invention
  • Fig. 4 is the working principle diagram of the absolute code reading module of the embodiment of the present invention.
  • Fig. 5 is a working principle diagram of the absolute code correction module of the embodiment of the present invention.
  • Fig. 6 is a working principle diagram of the absolute code track incremental position information generation module according to the embodiment of the present invention.
  • first and second are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, a feature defined as “first” or “second” may explicitly or implicitly include one or more of said features.
  • plural means two or more, unless otherwise specifically defined.
  • installation”, “connection” and “connection” should be interpreted in a broad sense, for example, it can be fixed connection, detachable connection, or integral connection; it can be mechanical connection or electrical connection; it can be It can be directly connected, or indirectly connected through an intermediary, and can be internal communication between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood in specific situations.
  • FIG. 1 is a schematic diagram of an absolute position measuring device according to an embodiment of the present invention. As shown in FIG. 1 , the absolute position measuring device according to an embodiment of the present invention specifically include:
  • the symbol sequence of absolute code channel 1 adopts “1010” and "1000", “1010” and “1011”, “0101” and “0100”, “0101” and “0111", “101010” and “101000", or A sequence combination of "10101010" and "10100000”.
  • Incremental code track 2 includes a periodic arrangement of symbol sequences with first and second characteristics; incremental code track 2 is composed of two optical characteristic units, the light-transmitting part T1 and the opaque part T2, and the incremental code
  • the absolute code reading module 5 is used to scan the code element sequence of the absolute code channel 1 through the sensing units D 1 to D n of the scanning element 3, and generate an initial effective absolute code through operation; the scanning element is used to generate a rough absolute code
  • the sensing units of the position information and the absolute code channel incremental position information are adjacent to each other, and the sensing units located in the code element sequence CA and CB are used to generate rough absolute position information, and the sensing units located in the code element sequence CA It is used to generate absolute track incremental position information.
  • the absolute code reading module 5 specifically includes:
  • the value judging unit includes s judging modules, which are connected to the difference calculation unit, and are used to judge the difference result RC i through the corresponding i-th judging module, if the difference between the difference result RC i and zero is less than the preset value, the judgment result is 1, otherwise the judgment result is 0;
  • the logic and operation unit includes s/4 operation modules, which are connected to the numerical judgment unit, and are used to perform logic AND operations on the corresponding four sets of judgment results through the corresponding operation modules to obtain s/4 operation results; wherein, If the two sets of sensing units participating in the differential operation are all within the increment period "10", the operation result is 1, otherwise the operation result is 0;
  • the summary unit includes two groups, which are connected with the logic and operation unit. Each group is used to summarize the operation results bit by bit, and the absolute code CABS' is obtained by summarizing all the operation results in the odd-numbered positions. For all the even-numbered positions The calculation results of are summarized to obtain the absolute code CABS;
  • the summation operation unit includes two groups, which are connected with the logic and operation unit, and each group is used to carry out the summation operation on the operation result bit by interval, respectively, to obtain two groups of summation results;
  • the difference calculation unit is further used to: compare the two groups of summation results through the s+1 difference module to obtain the difference R, and judge R, if R>0, then CABS is the initial effective absolute code, otherwise , CABS' is the initial valid absolute code.
  • the absolute code correction module 6 is used to analyze and process the initial effective absolute code to obtain the final effective absolute code after correction, and perform calculation or table lookup on the final effective absolute code to obtain rough absolute position information; the absolute code correction module 6 is specific include:
  • Logical operation unit used to perform XOR operation on groups of initially effective absolute coded sequences, and perform logical AND operation on the operation results to obtain the RIN or RIN' value
  • Logic judgment unit used to judge whether RIN' or RIN is 1, when R ⁇ 0, if RIN' is 1, then CABS' is the final effective absolute code, if RIN' is not 1, then judge the initial effective code sequence Whether the first bit M' 1 of CABS' is 1, if it is 1, insert a value 0 before CABS', and remove the last bit of CABS' to get the final effective absolute code 0-CABS'; if M' 1 is 0, then in Insert the value 1 before CABS', and remove the last digit of CABS' to get the final effective absolute code 1-CABS'; when R>0, if RIN is 1, then CABS is the final effective absolute code, if RIN is not 1 , then judge whether the first bit M 1 of the initial effective coding sequence CABS is 1, if it is 1, insert a value 0 before the CABS, and remove the last bit of the CABS to obtain the final effective absolute code 0-CABS, if M 1 is 0, then Insert the value 1 before CABS, and remove the last bit of CA
  • the absolute code track incremental position information generation module 7 is used to generate incremental signals according to the initial effective absolute code, and subdivides the incremental signals to obtain position information in a single cycle of the absolute code track; the absolute code track incremental signal 7
  • the generated modules specifically include:
  • the sensing unit selection module is used to analyze the initial effective absolute coding sequence, find the sensing units corresponding to the value "1" in all the generated initial effective absolute coding sequences, and group them into SIN+, COS+, and SIN according to their phase information - and COS - four groups;
  • the adder is connected with the sensing unit selection module, and is used for summing all analog signals with the same phase to obtain incremental position information INC0, INC90, INC180 and INC270, namely SIN+, COS+, SIN- and COS-;
  • the differential operator is connected with the adder, and is used to perform differential calculations on the incremental position information INC0 and INC180 and INC90 and INC270 respectively to obtain high-quality incremental position information IN0 and IN90 with a phase difference of 90°, namely SIN and COS signal, subdividing the SIN and COS signals to obtain the incremental position information INC P1 within a single incremental period of the absolute code channel.
  • the primary high-resolution position information generation module 8 is used to combine the position information within a single period of the absolute code track with the rough absolute position information to obtain high-resolution absolute position information, and index the incremental code track through the high-resolution absolute position information .
  • the primary high-resolution position information generation module 8 is specifically configured to: generate primary high-resolution absolute position information ABS by combining the position information INC P1 within a single period of the absolute code track with rough absolute position information, and index the incremental code track.
  • the above-mentioned device may further include:
  • Incremental code track position information generating module 9 is used to process the analog signal generated by scanning the incremental code track to obtain high-quality sine and cosine signals, and generate incremental code track single-cycle position information through subdivision operations;
  • the incremental code track position information generation module 9 is specifically used to adjust the amplitude, center level and phase of the analog signals a 1 ⁇ a m generated by scanning the incremental code track 2 with the scanning element 4 to obtain high-quality sinusoidal signals, Generate the position information INC P2 within a single cycle of the incremental code channel through subdivision operation;
  • the advanced high-resolution position information generation module 10 is used to combine the high-resolution absolute position information with the position information within a single cycle obtained by subdividing the incremental code track signal to obtain higher-resolution absolute position information.
  • the advanced high-resolution position information generation module 10 is specifically used for: using the primary high-resolution absolute position information ABS to index the incremental code track reticle cycle, combining the high-quality sine-cosine signals obtained by scanning the incremental code track to subdivide the incremental The position information INC P2 within a single period of the code track generates higher-resolution absolute position information ABS F .
  • the above-mentioned device further includes:
  • a check module is used to check each other according to the position information generated by the absolute code track and the position information generated by the incremental code track;
  • the resolution selection module is used to provide absolute position information with three resolutions: rough absolute position information, primary high-resolution absolute position information and advanced high-resolution absolute position information. Absolute position information with different resolutions can be selected through output control output.
  • the absolute position measuring device includes an absolute code track, an incremental code track, an absolute code reading module, an absolute code correction module, an absolute code track incremental position information generation module, and an incremental code track position information generation module module, the primary high-resolution position information generation module and the advanced high-resolution position information generation module, the absolute code reading module reads the absolute code track, decodes and generates the initial effective absolute code, and the absolute code correction module corrects the initial absolute code to obtain The final absolute code, operation or look-up table to obtain rough absolute position information, the absolute code channel incremental position information generation module generates incremental signals according to the initial effective absolute code, and subdivides the incremental signals to obtain the position within a single cycle of the absolute code track Information, the primary high-resolution position information generation module, combines the above-mentioned single-cycle position information with rough absolute position information to obtain high-resolution absolute position information to index and verify the incremental code track, and the incremental code track position information
  • the generation module processes the analog signal obtained by scanning the incremental code track to obtain high-quality sine and
  • the absolute code channel adopts a specially designed absolute coding rule, and the absolute position information and the incremental position information can be generated simultaneously according to a single code channel. index.
  • absolute code track encoding rule absolute code reading module, absolute code correction module, absolute code track incremental position information generation module, incremental code track position information generation module, primary high-resolution High-rate position information generation module and advanced high-resolution position information generation module are not limited to transmission type and photoelectric measurement, but are also applicable to reflection type, magnetoelectric type, inductive type and other measurement methods.
  • Code channel coding adopts the permutation and combination of sequences "1010” and “1000” to generate absolute codes such as Manchester code and pseudo-random code.
  • the coding sequence is not limited to “1010” and “1000”, but also includes “1010” and “1011”, “0101” and “0100”, “0101” and “0111”, “101010” and “101000”, “10101010” Combined with sequences with this characteristic such as "10100000".
  • the coding sequence in the illustration in the embodiment of the present invention is expressed as a 6-bit Manchester code
  • the measurement reference unit length, coding rules, absolute code reading method and incremental signal generation method in the embodiment of the present invention are not limited to coded bits
  • Number and absolute coding types are not only suitable for Manchester codes, but also for other absolute coding types such as pseudo-random codes, and have strong universality.
  • the absolute code reading module performs differential calculations on the corresponding sensing unit signals corresponding to SIN+, COS+, SIN-, and COS- in adjacent periods "10" or "00", and the results are sent to the judgment After the unit, perform logical AND operation to obtain the absolute code. If the two sets of sensing units participating in the differential operation are all within the increment period "10", the logical operation result is 1, otherwise the logical operation result is 0, and the absolute code value of a specific number of digits can be obtained by collecting the logical operation results. After each signal acquisition, the absolute code reading module generates two sets of absolute code values, one of which has the characteristics of Manchester code coding, and the other is almost all 0 in most cases.
  • the correct absolute code value can also be distinguished by performing XOR operation on two adjacent bits of the absolute code sequence.
  • the starting and ending positions of the array sensing units to be selected can be determined for generating incremental signals.
  • a high-quality incremental signal is obtained by scanning the combination of the absolute code sequence, and the incremental signal corresponds to the absolute code value and has subdivision.
  • the sensing units that generate incremental signals are adjacent to each other, and have the characteristic of single-field scanning.
  • the sensing units located in the coding sequences CA and CB are both used to generate absolute codes, and the sensing units in the coding sequence CA are also used to generate incremental information.
  • the 8 sensing units in each coding sequence CA can generate two sets of identical SIN+, SIN- and COS+, COS- signals, and the amplitudes and phases of the two sets of sine and cosine signals are equal.
  • the sensing unit used to generate the incremental signal selected each time contains the same number of CA sequences, so that the amplitude and phase of the final incremental signal remain stable, so that high-quality incremental signals can be obtained, which can Carry out high multiple subdivision.
  • the 8 sensing units in the coding sequence CA can be used to generate incremental signals alone, or the sensing units at different positions CA can be selected to be combined to generate incremental signals.
  • the high-quality incremental signal generated by the absolute code channel can be subdivided by a high multiple within the single signal period of the absolute code channel through differential and arctangent operations. In combination with the resulting absolute coded values, high-resolution absolute position measurements of absolute measuring devices are possible.
  • the marking cycle of the incremental code track does not have to be consistent with the marking cycle of the absolute code track, and the position information generated by the absolute code track can be used to index the incremental code track signal with a high number of lines. Combining the position information generated by the incremental code track with the position information generated by the absolute code track, higher resolution absolute position information can be obtained.
  • the high-resolution position data obtained according to the absolute code track in the embodiment of the present invention can be used to index the incremental code track on the one hand, and can be used to verify the position data generated by the incremental code track during operation to ensure accurate location information.
  • the device in the embodiment of the present invention specifically includes an absolute code track, an incremental code track, an absolute code reading module, an absolute code correction module, an absolute code track incremental position information generation module, and an incremental code track position information generation module. module, primary high-resolution location information generation module, and advanced high-resolution location information generation module.
  • the absolute code of the absolute code track is decoded by the absolute code reading module to generate the initial absolute code, and the absolute code correction module corrects the initial absolute code to generate the final absolute code.
  • the volume position information generation module generates high-quality incremental signals from the initial absolute encoding, and the high-resolution position information generation module subdivides the incremental signals, combined with rough absolute position information, to obtain high-resolution absolute position information, which is used for incremental Index and check the code channel signal. Subdividing the incremental code track signal at a higher multiple, combined with the above-mentioned high-resolution absolute position information, can obtain higher-resolution absolute position information.
  • the measurement device combines the advantages of absolute and incremental measurement, and high-resolution position measurement results can be obtained after power-on. At the same time, the position information generated by the absolute code track and the position information generated by the incremental code track can be mutually verified to improve the accuracy of position measurement. High-resolution absolute position measurement is possible.
  • FIG 1 in Figure 1 is the absolute code track of the absolute position measuring device, which is composed of two optical characteristic units T1 and T2. Among them, T1 is completely transparent or reflective, and T2 is opaque or non-reflective.
  • the measurement benchmark adopts Manchester code for rough coding, and the width of each Manchester code is B.
  • CA represents Manchester code "1"
  • CB represents Manchester code "0"
  • the CB is divided into a set of light-transmitting and opaque parts, the width of the light-transmitting part is P1/2, and the width of the opaque part is 3P1/2. Therefore, in the diagram of this patent, the Manchester code CA represents the coding component sequence "1010", and the Manchester code CB represents the coding component sequence "1000".
  • the scanning array composed of D 1 ⁇ D n and the scanning array composed of d 1 ⁇ d m scan the absolute code track 1 and the incremental code track 2 respectively, and generate analog signals A 1 ⁇ A n and a 1 ⁇ a m respectively.
  • the absolute code reading module 5 generates the initial effective absolute code CABS or CABS' and R value through the analysis and operation of the analog signals A 1 -A n .
  • the absolute code correction module 6 performs analysis and calculation processing on the initial effective absolute code to obtain the corrected final effective absolute code, and performs calculation or table lookup on the final effective absolute code to obtain rough absolute position information.
  • the absolute code channel incremental position information generation module 7 searches the sensing unit corresponding to the value "1" in the final effective absolute coding sequence, and accumulates all the analog signals generated by the sensing units with the same phase, and generates The position information INC P1 within a single cycle of the absolute code track.
  • the primary high-resolution position information generation module 8 combines the position information INC P1 within a single cycle of the absolute code track with the rough absolute position information to obtain the primary high-resolution absolute position information ABS.
  • the incremental code track position information generating module 9 obtains the position information INC P2 of the incremental code track within a single period P2 by analyzing and calculating the analog signals a 1 -am .
  • the high-level high-resolution position generating module 10 combines the position information INC P2 within the single period P2 of the incremental code track with the primary high-resolution absolute position information ABS to obtain higher-resolution absolute position information ABS F .
  • Fig. 2a and Fig. 2b are schematic diagrams of the corresponding relationship between two representative absolute code channels and incremental code channels.
  • 1.1 and 1.2 are the absolute code track of the absolute position measuring device, which are composed of two optical characteristic units T1 and T2
  • 2.1 and 2.2 are the incremental code track of the absolute position measuring device, which are also composed of two optical characteristic units T1 and T2 Composition of characteristic units.
  • Fig. 3 is the absolute code track of an example of an absolute position measuring device, the absolute code sequence represented is "1010 1000 1000 1010 1000 1010", and its corresponding 6-bit Manchester code is "100101".
  • the scanning element 3 is composed of D 1 to D 60 , arranged along the movement direction of the measurement reference 1, the distance between the sensing units is P1/4, and every two sensing units correspond to an absolute coding unit "1" or "0", each The Manchester code corresponds to 8 sensing units. Every 4 sensing units correspond to an incremental period P1 on the measurement standard 1, as shown in the figure, D 1 to D 4 correspond to the first "10" of the absolute code sequence, and D 5 to D 8 correspond to the second "10"", D 17 to D 20 correspond to the first "00” and so on.
  • the scanning element 5 scans the measuring standard 3 to generate analog signals A 1 to A 60 , which are sent to the absolute code reading module for processing.
  • the signal acquisition is carried out by the sensing unit d 1 to d m to obtain the analog signal a 1 to a m , the sensing unit interval is P2/4, each The increment period corresponds to 4 sensing units, corresponding to 0°, 90°, 180° and 270° phases respectively.
  • the signals A i and A i+4 generated by the scanning element 3 are sent to the differential comparator 11.x for differential operation, as shown in FIG. 4 .
  • i is an integer from 1 to 48.
  • the difference result RC i is input to the value judging unit 12.y for judgment, if the value RC i is close to zero, it outputs 1, otherwise it outputs 0.
  • the results are respectively sent to 13.1 to 13.12 for logical AND operation to obtain M' 1 to M' 6 and M 1 to M 6 .
  • two sets of absolute codes CABS and CABS' are obtained. When the position is shown in the figure, CABS and CABS' are "100101" and "100000", respectively.
  • the absolute code correction module 6 send the initial effective absolute code to the absolute code correction module 6 for calculation and analysis, determine whether the initial effective absolute code needs to be corrected, and judge whether the current interval is "1st" or "2nd", as shown in Figure 3. If the interval is "1st", the initial effective absolute code is the final rough absolute code. Otherwise, it is necessary to determine whether to insert "1" or "0” before the initial effective absolute code according to the value of the first digit of the initial effective absolute code as "0" or "1", and remove the last digit of the initial effective absolute code to obtain the final rough absolute code coding sequence.
  • the final coarse and effective absolute code can determine the rough absolute position information by means of table lookup or calculation.
  • the absolute coding sequence shown in FIG. 3 is "100101", which is consistent with the Manchester code coding information on the single code track measurement reference unit 1 .
  • the initial effective absolute coding sequence is determined according to the R value, and all corresponding sensing units that generate the value "1" in the initial effective absolute coding sequence are found.
  • the symbol that produces the value "1" in the original effective absolute code sequence is "1010" or "0101", which is the same as the incremental code track. Therefore, the analog signals generated by the corresponding sensing units are actually SIN+, COS+, SIN-, and COS- respectively, and the analog signals generated by all the sensing units with the same phase are accumulated and processed, and sent to the adder for summing operation, to obtain Incremental position information INC0, INC90, INC180 and INC270, namely SIN+, COS+, SIN- and COS-.
  • the primary high-resolution position information generation module 8 combines the position information INC P1 within a single period of the absolute code track with the rough absolute position information to obtain the high-resolution position data ABS of the single-code track absolute measuring device.
  • the incremental code track position information generation module 9 adjusts the amplitude, center level and phase of the analog signals a 1 ⁇ a m generated by scanning the incremental code track 2 with the scanning element 4 to obtain high-quality sine and cosine signals, which are subdivided and calculated Generate the position information INC P2 in the single cycle of the incremental code track;
  • the advanced high-resolution position information generation module 10 uses the primary high-resolution absolute position information ABS to index the incremental code track reticle cycle, and combines the position information INC P2 within a single cycle of the incremental code track to generate higher-resolution absolute position information ABS F.
  • the high-resolution position data ABS can be used to index the incremental code track signal to generate the final high-resolution absolute position data ABS F , and on the other hand, it can be used to verify the position information generated by the incremental code track.
  • the position measuring device sends a fault alarm, thereby improving the accuracy of the measuring device.
  • the present invention proposes an absolute encoding rule, which is simple in encoding, strong in readability, has the characteristics of both absolute codes and incremental codes, and also has the characteristics of Manchester codes.
  • the present invention proposes an absolute encoding reading method, which decodes through a hardware circuit to obtain an absolute encoding value.
  • a method for generating a high-quality incremental signal that is correlated to the absolute coded value is proposed.
  • the proposed absolute position measuring device through the reading of the above absolute code and incremental code, subdivides the incremental signal and combines it with the absolute code, which can realize the position measurement of the absolute code track with higher resolution, and can also be used for Incremental code tracks are indexed to obtain higher resolution position information.
  • the absolute code and code reading method of the embodiment of the present invention can obtain the absolute position value when powering on, and can also provide the absolute position information during operation, which can be checked and compared with the position value obtained by the incremental code track to ensure that the absolute position value can be obtained Accurate location data.
  • the absolute coding scheme has the characteristics of incremental code and absolute code, and also has the characteristics of Manchester code. Absolute coding sequences of different lengths and bits can be obtained through different combinations of coding constituent sequences. Not only applicable to pseudo-random codes, but also applicable to other absolute encoding methods.
  • the absolute code reading method includes signal acquisition and electrical signal processing.
  • the signal is output through the sensitive element, and after analog-to-digital conversion, it is sent to the differential comparator module. After the operation, it is input to the logic module for logical judgment, and two absolute coding sequences can be obtained. At least one of the absolute coding sequences has Manchester code characteristics.
  • the two absolute coding sequences are stored, and on the other hand, they are sent to the adder for summing, and the result is sent to the differential comparator to compare with the other summing result, and the one with the larger value is the correct absolute coding value.
  • the rough absolute position information can be obtained, which can be accurately positioned to a specific position.
  • the absolute code channel incremental signal generation method determines the combination of signal units sent to the adder by analyzing the above two absolute code sequences, and sums them to obtain SIN+, SIN-, COS+ and COS- signals. After the differential operation The SIN and COS signals are obtained, and the above-mentioned SIN and COS incremental signals are subjected to arctangent operation, and the position information within the absolute code track single signal cycle can be obtained by looking up the table.
  • the high-resolution position measurement of the absolute position measuring device can be realized, that is, it can be used for indexing of high-line incremental signals to obtain higher-resolution position information, and can also be used for incremental signal Calibration is performed to ensure the accuracy of the measured position information.
  • the improvement of a technology can be clearly distinguished as an improvement in hardware (for example, improvements in circuit structures such as diodes, transistors, switches, etc.) or improvements in software (improvement in method flow).
  • improvements in many current method flows can be regarded as the direct improvement of the hardware circuit structure.
  • Designers almost always get the corresponding hardware circuit structure by programming the improved method flow into the hardware circuit. Therefore, it cannot be said that the improvement of a method flow cannot be realized by hardware physical modules.
  • a Programmable Logic Device such as a Field Programmable Gate Array (FPGA)
  • FPGA Field Programmable Gate Array
  • HDL Hardware Description Language
  • the controller may be implemented in any suitable way, for example the controller may take the form of a microprocessor or processor and a computer readable medium storing computer readable program code (such as software or firmware) executable by the (micro)processor , logic gates, switches, application specific integrated circuits (Application Specific Integrated Circuit, ASIC), programmable logic controllers and embedded microcontrollers, examples of controllers include but are not limited to the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20 and Silicone Labs C8051F320, the memory controller can also be implemented as part of the control logic of the memory.
  • controller in addition to realizing the controller in a purely computer-readable program code mode, it is entirely possible to make the controller use logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded The same function can be realized in the form of a microcontroller or the like. Therefore, such a controller can be regarded as a hardware component, and the devices included in it for realizing various functions can also be regarded as structures within the hardware component. Or even, means for realizing various functions can be regarded as a structure within both a software module realizing a method and a hardware component.
  • a typical implementing device is a computer.
  • the computer may be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or Combinations of any of these devices.
  • one or more embodiments of this specification may be provided as a method, system or computer program product. Accordingly, one or more embodiments of the present description may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present description may take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
  • computer-usable storage media including but not limited to disk storage, CD-ROM, optical storage, etc.
  • These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing apparatus to operate in a specific manner, such that the instructions stored in the computer-readable memory produce an article of manufacture comprising instruction means, the instructions
  • the device realizes the function specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.
  • a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
  • processors CPUs
  • input/output interfaces network interfaces
  • memory volatile and non-volatile memory
  • Memory may include non-permanent storage in computer-readable media, in the form of random access memory (RAM) and/or nonvolatile memory, such as read-only memory (ROM) or flash RAM.
  • RAM random access memory
  • ROM read-only memory
  • Memory is an example of computer readable media.
  • Computer-readable media including both permanent and non-permanent, removable and non-removable media, can be implemented by any method or technology for storage of information.
  • Information may be computer readable instructions, data structures, modules of a program, or other data.
  • Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read only memory (ROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Flash memory or other memory technology, Compact Disc Read-Only Memory (CD-ROM), Digital Versatile Disc (DVD) or other optical storage, Magnetic tape cartridge, tape magnetic disk storage or other magnetic storage device or any other non-transmission medium that can be used to store information that can be accessed by a computing device.
  • computer-readable media excludes transitory computer-readable media, such as modulated data signals and carrier waves.
  • program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types.
  • program modules may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network.
  • program modules may be located in both local and remote computer storage media including storage devices.

Abstract

本发明公开了一种绝对式位置测量装置，包括：绝对码道、增量码道，绝对编码读取模块，用于通过传感单元对绝对码道的码元序列进行扫描，经运算生成最初有效绝对编码；绝对编码校正模块，用于对最初有效绝对编码进行分析运算，得到校正后的最终有效绝对编码，对最终有效绝对编码进行运算或查表，获得粗绝对位置信息；绝对码道增量位置信息生成模块，用于对最初有效绝对编码进行分析运算得到绝对码道单周期内位置信息；初级高分辨率位置信息生成模块，用于将绝对码道单周期内位置信息，结合粗绝对位置信息，得到初级高分辨率绝对位置信息，通过高分辨率绝对位置信息对增量码道进行索引，可获得更高分辨率的位置信息。

Description

绝对式位置测量装置 技术领域
本发明涉及测量技术领域，尤其是涉及一种绝对式位置测量装置。
背景技术
位置测量装置因其可以提供角度或长度信息，被越来越多地应用于数控机床、机器人、工业自动化等诸多领域。
常见的位置测量装置主要为编码器和光栅等，其工作方式分为增量式和绝对式两种。增量式至少包含增量码道和参考码道两个码道。其中，增量码道刻线均匀，需结合参考码道生成的零位信号得到角度或位置信息。增量式的特点是结构简单，响应迅速，易于小型化，但存在误差累积现象，当遭遇掉电故障时易造成数据丢失，且上电时需左右移动获取零位信号。绝对式具有固定零点，上电即可得到绝对位置信息，抗干扰能力强，且无累积误差。绝对编码主要包括格雷码、伪随机码和曼彻斯特码等。格雷码编码方式由于码道数较多，读数单元沿径向排列紧密，不易于小型化，近年来几乎已被市场淘汰。利用伪随机码索引增量码道是绝对式位置测量装置的主流编码方案。伪随机码在其编码序列中具有唯一性，通过光电传感器读取索引码道信息，可得知当前测量装置所对应的增量码道位置，对增量位置信息进行进一步细分，便可获得更为精确的位置信息。然而，由于直接读取的伪随机码无法实现再细分，使得伪随机码宽须与增量码宽一致，否则无法实现准确索引。
另外，小型化、绝对化是位置测量装置的发展趋势。单码道绝对式方案备受推崇，当前单码道绝对式测量技术大多采用CCD进行信号采集，但其细分能力有限，分辨率很难达到较高水平。同时，由于信号采集及处理速度等因素制约，无法实时得到绝对位置数据。
鉴于目前的绝对式测量技术现状，使用绝对码道索引增量码道是当前绝对式测量技术发展的优选方案。然而，当增量码道线数较多时，需要增加伪随机码位数方能进行正确索引，且会增加产品成本。因此，有必要开发一种具有较强普适性的绝对码道可细分的测量技术，用于索引高线数增量码道，以实现较高分辨率的位置测量。
发明内容
本发明的目的在于提供一种绝对式位置测量装置，旨在解决现有技术中的上述问题。
本发明提供一种绝对式位置测量装置，包括：
绝对码道，包括非周期性布置的具有第一特性和第二特性的码元序列；
增量码道，包括周期性布置的具有第一特性和第二特性的码元序列；
绝对编码读取模块，用于通过传感单元对所述绝对码道的码元序列进行扫描，经运算生成最初有效绝对编码；
绝对编码校正模块，用于对所述最初有效绝对编码进行分析运算处理，得到校正后的最终有效绝对编码，对所述最终有效绝对编码进行运算或查表，获得粗绝对位置信息；
绝对码道增量位置信息生成模块，用于对所述最初有效绝对编码进行分析运算得到绝对码道单周期内位置信息；
初级高分辨率位置信息生成模块，用于将所述绝对码道单周期内位置 信息，结合所述粗绝对位置信息，得到初级高分辨率绝对位置信息，通过所述高分辨率绝对位置信息对增量码道进行索引，获得更高分辨率的位置信息。
增量码道位置信息生成模块，用于对扫描增量码道生成的模拟信号进行处理，得到正余弦信号，经细分运算生成增量码道单周期内位置信息；
高级高分辨率位置信息生成模块，用于将所述初级高分辨率绝对位置信息索引增量码道刻线周期，结合所述增量码道单周期内位置信息，生成更高分辨率的绝对位置信息。
采用本发明实施例，兼具绝对式和增量式测量的优点，上电即可获得高分辨率的位置测量结果，同时，绝对码道生成的位置信息与增量码道生成的位置信息能够进行互相校验，提高位置测量的准确性。
上述说明仅是本发明技术方案的概述，为了能够更清楚了解本发明的技术手段，而可依照说明书的内容予以实施，并且为了让本发明的上述和其它目的、特征和优点能够更明显易懂，以下特举本发明的具体实施方式。
附图说明
为了更清楚地说明本发明具体实施方式或现有技术中的技术方案，下面将对具体实施方式或现有技术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发明的一些实施方式，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是本发明实施例的绝对式位置测量装置的示意图；
图2a是本发明实施例的绝对码道和增量码道的方案1的示意图；
图2b是本发明实施例的绝对码道和增量码道的方案2的示意图；
图3是本发明实施例的扫描元件扫描单码道测量基准单元产生模拟信号的示意图；
图4是本发明实施例的绝对编码读取模块工作原理图；
图5是本发明实施例的绝对编码校正模块工作原理图；
图6是本发明实施例的绝对码道增量位置信息生成模块工作原理图。
具体实施方式
下面将结合实施例对本发明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发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，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，都属于本发明保护的范围。
在本发明的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”、“顺时针”、“逆时针”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个所述特征。在本发明的描述中，“多个”的含义是两个或两个以上，除非另有明确具体的限定。此外，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以具体情况 理解上述术语在本发明中的具体含义。
根据本发明实施例，提供了一种绝对式位置测量装置，图1是本发明实施例的绝对式位置测量装置的示意图，如图1所示，根据本发明实施例的绝对式位置测量装置具体包括：
绝对码道1，包括非周期性布置的具有第一特性和第二特性的码元序列；绝对码道1采用曼彻斯特码进行粗编码，其中，每位曼彻斯特码宽度均为B，每位宽度为B的曼彻斯特码对应绝对码道中的CA或CB，其中，CA由两组宽度相等的透光部分T1与不透光部分T2两种光学特性单元组成，其中，一个T1和一个T2为一组，每组宽度P1＝B/2，CB被分为一组透光部分T1和一组不透光部分T2，其中，透光部分宽度为P1/2，不透光部分宽度为3P1/2。绝对码道1的码元序列采用“1010”和“1000”、“1010”和“1011”、“0101”和“0100”、“0101”和“0111”、“101010”和“101000”、或者“10101010”和“10100000”的序列组合。
增量码道2，包括周期性布置的具有第一特性和第二特性的码元序列；增量码道2由透光部分T1和不透光部分T2两种光学特性单元组成，增量码道的刻线间隔P2＝P1/N，或者P2＝P1，其中，N为大于1的正整数；
绝对编码读取模块5，用于通过扫描元件3的传感单元D 1～D n对绝对码道1的码元序列进行扫描，经运算生成最初有效绝对编码；扫描元件中用于生成粗绝对位置信息和绝对码道增量位置信息的传感单元彼此相邻，位于码元序列CA和CB内的传感单元均被用于产生粗绝对位置信息，位于码元序列CA内的传感单元被用于产生绝对码道增量位置信息。
绝对编码读取模块5具体包括：
差分运算单元，包括s+1个差分模块，用于分别通过对应的第i个差分模块依次对相邻两个周期内间隔3个传感单元的相应传感单元产生的模拟信号A i和A i+4进行差分运算，分别得到差分结果RC i，其中i＝1，2，3，……，s，s为大于等于4的整数；
数值判断单元，包括s个判断模块，与差分运算单元连接，用于通过对应的第i个判断模块分别对差分结果RC i进行判断，若差分结果RC i RC i与零的差值小于预设值，则判断结果为1，否则判断结果为0；
逻辑与运算单元，包括s/4个运算模块，与数值判断单元连接，用于通过对应的运算模块分别对其对应的四组判断结果进行逻辑与运算，得到s/4个运算结果；其中，参与差分运算的两组传感单元若均处于增量周期“10”内时，运算结果为1，否则运算结果为0；
汇总单元，包括两组，与逻辑与运算单元连接，每组分别用于对运算结果进行逐间隔位汇总，对所有排在奇数位的运算结果汇总得到绝对编码CABS'，对所有排在偶数位的运算结果汇总得到绝对编码CABS；
求和运算单元，包括两组，与逻辑与运算单元连接，每组分别用于对运算结果进行逐间隔位的求和运算，分别得到两组求和结果；
差分运算单元进一步用于：通过第s+1个差分模块对两组求和结果进行比较大小，得到差值R，并对R进行判断，若R>0，则CABS为最初有效绝对编码，否则，CABS'为最初有效绝对编码。
绝对编码校正模块6，用于对最初有效绝对编码进行分析运算处理，得到校正后的最终有效绝对编码，对最终有效绝对编码进行运算或查表，获得粗绝对位置信息；绝对编码校正模块6具体包括：
逻辑运算单元，用于将最初有效绝对编码的序列分组进行异或运算，并将运算结果进行逻辑与运算，得到RIN或RIN'值；
逻辑判断单元，用于判断RIN'或RIN是否为1，当R≤0时，若RIN'为1，则CABS'即为最终有效绝对编码，若RIN'不为1，则判断最初有效编码序列CABS'首位M' 1是否为1，若为1，则在CABS'前插入数值0，并去除CABS'最后一位，得到最终有效绝对编码0-CABS'；若M' 1为0，则在CABS'前插入数值1，并去除CABS'最后一位，得到最终有效绝对编码1-CABS'；当R>0时，若RIN为1，则CABS即为最终有效绝对编码，若RIN不为1， 则判断最初有效编码序列CABS首位M 1是否为1，若为1，则在CABS前插入数值0，并去除CABS最后一位，得到最终有效绝对编码0-CABS，若M 1为0，则在CABS前插入数值1，并去除CABS最后一位，得到最终有效绝对编码1-CABS。
绝对码道增量位置信息生成模块7，用于根据最初有效绝对编码产生增量信号，并对增量信号进行细分后得到绝对码道单周期内位置信息；所绝对码道增量信号7生成模块具体包括：
传感单元选择模块，用于对最初有效绝对编码序列进行分析，查找产生的所有最初有效绝对编码的序列中数值“1”所对应传感单元，根据其相位信息进行分组为SIN+、COS+、SIN-和COS-四组；
加法器，与传感单元选择模块连接，用于将所有相位相同的模拟信号进行求和运算，得到增量位置信息INC0、INC90、INC180和INC270，即SIN+、COS+、SIN-和COS-；
差分运算器，与加法器连接，用于将增量位置信息INC0与INC180和INC90与INC270分别进行差分运算后，得到相位差为90°的高质量增量位置信息IN0和IN90，即SIN和COS信号，对SIN和COS信号进行细分运算，得到绝对码道单增量周期内的增量位置信息INC P1。
初级高分辨率位置信息生成模块8，用于将绝对码道单周期内位置信息，结合粗绝对位置信息，得到高分辨率绝对位置信息，通过高分辨率绝对位置信息对增量码道进行索引。初级高分辨率位置信息生成模块8具体用于：通过将绝对码道单周期内位置信息INC P1，结合粗绝对位置信息，生成初级高分辨率绝对位置信息ABS，对增量码道进行索引。
上述装置还可以进一步包括：
增量码道位置信息生成模块9，用于对扫描增量码道生成的模拟信号进行处理，得到高质量正余弦信号，经细分运算生成增量码道单周期内位置信息；
增量码道位置信息生成模块9，具体用于通过对扫描元件4扫描增量码道2生成的模拟信号a 1～a m进行幅值、中心电平和相位调理，得到高质量正余弦信号，经细分运算生成增量码道单周期内位置信息INC P2；
高级高分辨率位置信息生成模块10，用于将高分辨率绝对位置信息与增量码道信号细分得到的单周期内位置信息结合，得到更高分辨率绝对位置信息。
高级高分辨率位置信息生成模块10具体用于：利用初级高分辨率绝对位置信息ABS索引增量码道刻线周期，结合扫描增量码道获得的高质量正余弦信号进行细分得到的增量码道单周期内位置信息INC P2，生成更高分辨率的绝对位置信息ABS F。
在本发明实施例种，上述装置进一步包括：
校验模块，用于根据绝对码道生成的位置信息与增量码道生成的位置信息进行互相校验；
分辨率选择模块，用于提供粗绝对位置信息、初级高分辨率绝对位置信息和高级高分辨率绝对位置信息三种分辨率的绝对位置信息，通过输出控制，可以选择不同分辨率的绝对位置信息输出。
以下结合附图，对本发明实施例的技术方案进行详细说明。
根据本发明实施例的绝对式位置测量装置，包括绝对码道、增量码道、绝对编码读取模块、绝对编码校正模块、绝对码道增量位置信息生成模块、增量码道位置信息生成模块、初级高分辨率位置信息生成模块和高级高分辨率位置信息生成模块，绝对编码读取模块读取绝对码道，译码生成最初有效绝对编码，绝对编码校正模块对最初绝对编码进行校正得到最终绝对编码，运算或查表得到粗绝对位置信息，绝对码道增量位置信息生成模块根据最初有效绝对编码产生增量信号，并对增量信号进行细分后得到绝对码道单周期内位置信息，初级高分辨率位置信息生成模块，将上述单周期 内位置信息结合粗绝对位置信息，得到高分辨率绝对位置信息，以对增量码道进行索引和校验，增量码道位置信息生成模块，通过对扫描增量码道得到的模拟信号进行处理得到高质量正余弦信号，经细分得到增量码道单周期内位置信息，高级高分辨率位置信息生成模块，将高分辨率绝对位置信息与增量码道单周期内位置信息结合后，可得到更高分辨率的绝对位置信息。
其中，绝对码道采用特殊设计的绝对编码规则，根据单一码道可同时生成绝对位置信息和增量位置信息，增量位置信息具有可细分特点，能够进行高线数增量码道信号的索引。
需要说明的是，本发明实施例中的绝对码道编码规则、绝对编码读取模块、绝对编码校正模块、绝对码道增量位置信息生成模块、增量码道位置信息生成模块、初级高分辨率位置信息生成模块和高级高分辨率位置信息生成模块，不局限于透射式、光电式测量，也同样适用于反射式、磁电式、电感式等测量方式。
码道编码采用序列“1010”和“1000”的排列组合生成曼彻斯特码、伪随机码等绝对编码。编码组成序列不限于“1010”和“1000”，也包括“1010”和“1011”、“0101”和“0100”、“0101”和“0111”、“101010”和“101000”、“10101010”和“10100000”等具此特点的序列组合。
虽然本发明实施例中的图示中编码序列表示为6位曼彻斯特码，但本发明实施例的测量基准单元长度、编码规则、绝对编码读取方法和增量信号生成方法均不局限于编码位数和绝对编码类型，不仅适用于曼彻斯特码，也适用于伪随机码等其他绝对编码类型，具有较强的普适性。
在本发明实施例中，绝对编码读取模块对相邻周期“10”或“00”内对应SIN+、COS+、SIN-、COS-的相应传感单元信号两两进行差分运算， 结果送入判断单元后，进行逻辑与运算，获得绝对编码。参与差分运算的两组传感单元若均处于增量周期“10”内时，逻辑运算结果为1，否则逻辑运算结果为0，汇集逻辑运算结果可得特定位数的绝对编码值。每次信号采集后绝对编码读取模块生成两组绝对编码值，其中一组具有曼彻斯特码编码特点，另一组则多数情况下几乎全为0。对两组绝对码值作求和及差分运算，结果大者即为正确的绝对编码值。亦可通过对绝对码序列相邻两位作异或运算等方法，分辨出正确的绝对编码值。在本发明实施例中，通过分析两组绝对编码值，可以确定需要选择的阵列传感单元始末位置，用于生成增量信号。
由于绝对编码值在编码序列中具有唯一性，根据粗绝对编码生成过程和结果，在无增量信号的情况下，可准确实现曼彻斯特码的二细分，定位至特定的“10”或“00”位置。本发明实施例中，通过扫描所述绝对编码序列组合得到高质量增量信号，该增量信号与绝对编码值对应，具有可细分性。
在本发明实施例中，生成增量信号的传感单元彼此相邻，具有单场扫描特点。位于编码序列CA和CB内的传感单元均被用于产生绝对编码，编码序列CA内的传感单元还被用于产生增量信息。每个编码序列CA内的8个传感单元可生成两组相同的SIN+、SIN-和COS+、COS-信号，两组正余弦信号幅值相等、相位相同。扫描元件扫描过程中，每次选择的用于生成增量信号的传感单元含有相同数量的CA序列，使得最终增量信号幅值和相位保持稳定，因而可获得高质量的增量信号，能够进行高倍数细分。
在本发明的一个实施例中，编码序列CA内的8个传感单元可单独用于生成增量信号，亦可选择不同位置CA的传感单元进行组合用于产生增量信号。绝对码道生成的高质量增量信号通过差分及反正切等运算，可实 现绝对码道单信号周期内高倍数的细分。与得到的绝对编码值结合，可实现绝对式测量装置高分辨率的绝对位置测量。
此外，需要说明的是，增量码道刻线周期不必与绝对码道刻线周期保持一致，绝对码道产生的位置信息可用于索引高线数增量码道信号。增量码道生成的位置信息与绝对码道产生的位置信息相结合，可以得到更高分辨率的绝对位置信息。
本发明实施例根据绝对码道得到的高分辨率位置数据，一方面用于索引增量码道，另一方面可用于运行过程中对增量码道产生的位置数据进行校验，确保得到准确的位置信息。
从上述描述可知，本发明实施例的装置具体包括绝对码道、增量码道、绝对编码读取模块、绝对编码校正模块、绝对码道增量位置信息生成模块、增量码道位置信息生成模块、初级高分辨率位置信息生成模块，以及高级高分辨率位置信息生成模块。绝对码道的绝对编码，由绝对编码读取模块译码生成最初绝对编码，绝对编码校正模块对最初绝对编码进行校正后生成最终绝对编码，运算或查表获得粗绝对位置信息，绝对码道增量位置信息生成模块由最初绝对编码产生高质量增量信号，高分辨率位置信息生成模块对该增量信号进行细分，结合粗绝对位置信息，得到高分辨率绝对位置信息，用于对增量码道信号进行索引和校验。对增量码道信号进行更高倍数的细分，结合上述高分辨率绝对位置信息可以得到更高分辨率的绝对位置信息。该测量装置兼具绝对式和增量式测量的优点，上电即可获得高分辨率的位置测量结果。同时，绝对码道生成的位置信息与增量码道生成的位置信息能够进行互相校验，提高位置测量的准确性。可以实现高分辨率的绝对位置测量。
以下结合附图进行举例说明。
图1中1为绝对式位置测量装置的绝对码道，由T1和T2两种光学特性单元组成。其中，T1具有完全透光或反光特性，T2具有不透光或不反光特性。测量基准采用曼彻斯特码进行粗编码，每位曼彻斯特码宽度均为B。CA代表曼彻斯特码“1”，CB代表曼彻斯特码“0”。CA由两组透光与不透光部分组成，每组宽度为P1＝B/2。其中，透光部分与不透光部分宽度相等，均为P1/2。CB被分为一组透光与不透光部分，透光部分宽度为P1/2，不透光部分宽度为3P1/2。因此，在本专利图示中，曼彻斯特码CA表现为编码组成序列“1010”，曼彻斯特码CB表现为编码组成序列“1000”。
由D 1～D n组成的扫描阵列和d 1～d m组成的扫描阵列分别扫描绝对码道1和增量码道2，分别生成模拟信号A 1～A n和a 1～a m。绝对编码读取模块5通过对模拟信号A 1～A n的分析运算，生成最初有效绝对编码CABS或CABS'和R值。绝对编码校正模块6，对最初有效绝对编码进行分析运算处理，得到校正后的最终有效绝对编码，对所述最终有效绝对编码进行运算或查表，获得粗绝对位置信息。绝对码道增量位置信息生成模块7通过查找所述最终有效绝对编码的序列中数值“1”所对应传感单元，将相位相同的传感单元产生的所有模拟信号进行累加处理，经过运算产生所述绝对码道单周期内位置信息INC P1。初级高分辨率位置信息生成模块8将所述绝对码道单周期内位置信息INC P1与所述粗绝对位置信息进行结合，得到所述初级高分辨率绝对位置信息ABS。增量码道位置信息生成模块9通过对模拟信号a 1～a m的分析运算，得到增量码道单周期P2内的位置信息INC P2。高级高分辨率位置生成模块10将增量码道单周期P2内的位置信息INC P2与初级高分辨率绝对位置信息ABS相结合，得到更高分辨率的绝对位置信息ABS F。
图2a和图2b为两种具有代表性的绝对码道和增量码道对应关系示意 图。其中，1.1和1.2为绝对式位置测量装置的绝对码道，由T1和T2两种光学特性单元组成，2.1和2.2为绝对式位置测量装置的增量码道，也由T1和T2两种光学特性单元组成。该增量码道的刻线周期P2可以与绝对码道周期P1相等，也可以为P2＝P1/N的关系，其中，N为正整数。
图3中1为绝对式位置测量装置示例的绝对码道，表示的绝对编码序列为“1010 1000 1000 1010 1000 1010”，其对应的6位曼彻斯特码为“100101”。扫描元件3由D 1到D 60组成，沿测量基准1运动方向排列放置，传感单元间距为P1/4，每两个传感单元对应一个绝对编码单元“1”或“0”，每个曼彻斯特码对应8个传感单元。每4个传感单元对应测量基准1上的一个增量周期P1，如图示位置处D 1到D 4对应绝对编码序列第一个“10”，D 5到D 8对应第二个“10”，D 17到D 20对应第一个“00”等。扫描元件5扫描测量基准3后产生模拟信号A 1到A 60，送入绝对编码读取模块进行处理。
图3中的2为绝对式位置测量装置示例的增量码道，由传感单元d 1到d m进行信号采集得到模拟信号a 1到a m，传感单元间隔为P2/4，每个增量周期对应4个传感单元，分别对应0°、90°、180°和270°相位。
将扫描元件3产生的信号A i和A i+4送入差分比较器11.x进行差分运算，如图4所示。其中，i为1到48的整数。差分结果RC i输入到数值判断单元12.y进行判断，如果数值RC i接近于零则输出1，否则输出0。其结果分别送入13.1到13.12进行逻辑与运算，得到M' 1到M' 6和M 1到M 6。将其汇总至14.1和14.2后得到两组绝对编码CABS和CABS'。图示位置时，CABS和CABS'分别为“100101”和“100000”。将M' 1到M '6和M 1到M 6分别送入加法器15.1和15.2进行逐位求和运算，得到M'和M。二者比较大小，数值大者所对应的绝对编码CABS或CABS'即为最终的绝对编码值，此处为“100101”，与测量基准1上的绝对编码信息一致。
将最初有效绝对编码送入绝对编码校正模块6进行运算分析，确定最初有效绝对编码是否需要修正，判断其当前所处区间为“1st”还是“2nd”，如图3所示。若所处区间为“1st”，则最初有效绝对编码即为最终粗绝对编码。否则，需根据最初有效绝对编码首位值为“0”还是“1”，确定在最初有效绝对编码前插入“1”或“0”，并去除最初有效绝对编码最后一位，得到最终的粗绝对编码序列。具体为如图5所示，当R≤0时，即CABS'为最初有效绝对编码时，对最初有效绝对编码序列分组进行异或运算，然后对异或运算结果进行逻辑与运算得到逻辑值RIN'，通过值判断判断逻辑值RIN'是否为1。若RIN'为1，则CABS'即为最终的粗有效绝对编码。否则，需要判断最初有效绝对编码首位M' 1是否为1。若M' 1＝1，则需在CABS'编码前插入0，并将CABS'编码序列的最后一位去掉，得到最终的粗有效绝对编码0-CABS'。否则，需在CABS'编码前插入1，并将CABS'编码的最后一位去掉，得到最终的粗有效绝对编码1-CABS'。当R>0时，即CABS为最初有效绝对编码时，对最初有效绝对编码序列分组进行异或运算，然后对异或运算结果进行逻辑与运算得到逻辑值RIN，通过值判断判断逻辑值RIN是否为1。若RIN为1，则CABS即为最终的粗有效绝对编码。否则，需要判断最初有效绝对编码首位M 1是否为1。若M 1＝1，则需在CABS编码前插入0，并将CABS编码的最后一位去掉，得到最终的粗有效绝对编码0-CABS。否则，需在CABS编码前插入1，并将CABS编码的最后一位去掉，得到最终的粗有效绝对编码1-CABS。最终的粗有效绝对编码通过查表或运算等方法即可确定粗绝对位置信息。本实施例中图3所示的绝对编码序列为“100101”，与单码道测量基准单元1上的曼彻斯特码编码信息一致。
如图6所示，根据R值判断出最初有效绝对编码序列，查找出最初有效绝对编码序列中所有产生数值“1”的对应传感单元。最初有效绝对 编码序列中产生数值“1”的码元为“1010”或“0101”，与增量式码道相同。因此，对应传感单元产生的模拟信号其实分别为SIN+、COS+、SIN-和COS-，将所有相位相同的传感单元产生的模拟信号进行累加处理，并送入加法器进行求和运算，得到增量位置信息INC0、INC90、INC180和INC270，即SIN+、COS+、SIN-和COS-。INC0与INC180和INC90与INC270分别进行差分运算后，得到相位差为90°的高质量增量位置信息IN0和IN90，即SIN和COS信号。对其进行细分运算，即可得到绝对码道单周期内位置信息INC P1。
初级高分辨率位置信息生成模块8将绝对码道单周期内位置信息INC P1与粗绝对位置信息相结合，即可得到单码道绝对式测量装置的高分辨率位置数据ABS。
增量码道位置信息生成模块9通过对扫描元件4扫描增量码道2生成的模拟信号a 1～a m进行幅值、中心电平和相位调理，得到高质量正余弦信号，经细分运算生成增量码道单周期内位置信息INC P2；
高级高分辨率位置信息生成模块10利用初级高分辨率绝对位置信息ABS索引增量码道刻线周期，结合增量码道单周期内位置信息INC P2，生成更高分辨率的绝对位置信息ABS F。
高分辨率位置数据ABS一方面可用于索引增量码道信号，生成最终高分辨率绝对位置数据ABS F，另一方面可用于对增量码道生成的位置信息进行校验。当绝对码道和增量码道产生的位置数据相差较大时，位置测量装置发送故障报警，从而提高测量装置的准确性。
综上所述，借助于本发明实施例的技术方案，本发明提出一种绝对编码规则，编码简单，可读性强，兼具绝对码和增量码的特点，也具有曼彻斯特码特点。
本发明基于上述编码规则，提出一种绝对编码读数方法，通过硬件电路进行译码，获得绝对编码值。结合上述绝对编码读数方法得到的绝对编码值，提出一种高质量增量信号生成方法，该增量信号与绝对编码值相关。提出的绝对式位置测量装置，通过上述绝对码和增量码的读取，对增量信号进行细分后与绝对码结合，可实现绝对码道较高分辨率的位置测量，亦可用于对增量码道进行索引，得到更高分辨率的位置信息。本发明实施例的绝对编码及其读码方法，在上电时得到绝对位置值，运行过程中亦可同时提供绝对位置信息，与增量码道得到的位置值进行校验比对，确保得到准确的位置数据。其中，所述的绝对编码方案具有增量码和绝对码特征，也具有曼彻斯特码特征。通过编码组成序列的不同组合，可得到不同长度和位数的绝对编码序列。不仅适用于伪随机码，也同样适用于其他绝对编码方法。
在本发明实施例中，所述的绝对编码读数方法包括信号采集和电信号处理。信号通过敏感元件输出，经模数转换后，送入差分比较器模块，运算结束后输入逻辑模块进行逻辑判断，可获得两个绝对编码序列。其中至少一个绝对编码序列具有曼彻斯特码特征。一方面将两个绝对编码序列进行存储，另一方面送入加法器求和，结果送入差分比较器与另一求和结果比较，数值大者即为正确的绝对编码值。通过对绝对编码生成过程和结果的分析，得到粗绝对位置信息，可准确定位至特定位置。
在发明实施例中，绝对码道增量信号生成方法通过分析上述两个绝对编码序列，确定送入加法器的信号单元组合，求和得到SIN+、SIN-、COS+和COS-信号，差分运算后得到SIN和COS信号，将上述SIN和COS增量信号进行反正切运算，查表可获得绝对码道单信号周期内位置信息。结合上述粗绝对位置信息后即可实现绝对式位置测量装置的高分辨率位置测量，即能用于高线数增量信号的索引，获得更高分辨率的位置信息，也 可对增量信号进行校验，保证测量位置信息的准确性。
上述对本说明书特定实施例进行了描述。其它实施例在所附权利要求书的范围内。在一些情况下，在权利要求书中记载的动作或步骤可以按照不同于实施例中的顺序来执行并且仍然可以实现期望的结果。另外，在附图中描绘的过程不一定要求示出的特定顺序或者连续顺序才能实现期望的结果。在某些实施方式中，多任务处理和并行处理也是可以的或者可能是有利的。
在20世纪30年代，对于一个技术的改进可以很明显地区分是硬件上的改进(例如，对二极管、晶体管、开关等电路结构的改进)还是软件上的改进(对于方法流程的改进)。然而，随着技术的发展，当今的很多方法流程的改进已经可以视为硬件电路结构的直接改进。设计人员几乎都通过将改进的方法流程编程到硬件电路中来得到相应的硬件电路结构。因此，不能说一个方法流程的改进就不能用硬件实体模块来实现。例如，可编程逻辑器件(Programmable Logic Device，PLD)(例如现场可编程门阵列(Field Programmable Gate Array，FPGA))就是这样一种集成电路，其逻辑功能由用户对器件编程来确定。由设计人员自行编程来把一个数字系统“集成”在一片PLD上，而不需要请芯片制造厂商来设计和制作专用的集成电路芯片。而且，如今，取代手工地制作集成电路芯片，这种编程也多半改用“逻辑编译器(logic compiler)”软件来实现，它与程序开发撰写时所用的软件编译器相类似，而要编译之前的原始代码也得用特定的编程语言来撰写，此称之为硬件描述语言(Hardware Description Language，HDL)，而HDL也并非仅有一种，而是有许多种，如ABEL(Advanced Boolean Expression Language)、AHDL(Altera Hardware Description Language)、Confluence、CUPL(Cornell University Programming Language)、HDCal、JHDL(Java Hardware Description Language)、Lava、Lola、MyHDL、PALASM、RHDL(Ruby Hardware Description Language)等，目前最普遍使用的是VHDL (Very-High-Speed Integrated Circuit Hardware Description Language)与Verilog。本领域技术人员也应该清楚，只需要将方法流程用上述几种硬件描述语言稍作逻辑编程并编程到集成电路中，就可以很容易得到实现该逻辑方法流程的硬件电路。
控制器可以按任何适当的方式实现，例如，控制器可以采取例如微处理器或处理器以及存储可由该(微)处理器执行的计算机可读程序代码(例如软件或固件)的计算机可读介质、逻辑门、开关、专用集成电路(Application Specific Integrated Circuit，ASIC)、可编程逻辑控制器和嵌入微控制器的形式，控制器的例子包括但不限于以下微控制器：ARC 625D、Atmel AT91SAM、Microchip PIC18F26K20以及Silicone Labs C8051F320，存储器控制器还可以被实现为存储器的控制逻辑的一部分。本领域技术人员也知道，除了以纯计算机可读程序代码方式实现控制器以外，完全可以通过将方法步骤进行逻辑编程来使得控制器以逻辑门、开关、专用集成电路、可编程逻辑控制器和嵌入微控制器等的形式来实现相同功能。因此这种控制器可以被认为是一种硬件部件，而对其内包括的用于实现各种功能的装置也可以视为硬件部件内的结构。或者甚至，可以将用于实现各种功能的装置视为既可以是实现方法的软件模块又可以是硬件部件内的结构。
上述实施例阐明的系统、装置、模块或单元，具体可以由计算机芯片或实体实现，或者由具有某种功能的产品来实现。一种典型的实现设备为计算机。具体的，计算机例如可以为个人计算机、膝上型计算机、蜂窝电话、相机电话、智能电话、个人数字助理、媒体播放器、导航设备、电子邮件设备、游戏控制台、平板计算机、可穿戴设备或者这些设备中的任何设备的组合。
为了描述的方便，描述以上装置时以功能分为各种单元分别描述。当然，在实施本说明书实施例时可以把各单元的功能在同一个或多个软件和/或硬件中实现。
本领域内的技术人员应明白，本说明书一个或多个实施例可提供为方法、系统或计算机程序产品。因此，本说明书一个或多个实施例可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本说明书可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。
本说明书是参照根据本说明书实施例的方法、设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。
这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。
在一个典型的配置中，计算设备包括一个或多个处理器(CPU)、输入/输出接口、网络接口和内存。
内存可能包括计算机可读介质中的非永久性存储器，随机存取存储器 (RAM)和/或非易失性内存等形式，如只读存储器(ROM)或闪存(flash RAM)。内存是计算机可读介质的示例。
计算机可读介质包括永久性和非永久性、可移动和非可移动媒体可以由任何方法或技术来实现信息存储。信息可以是计算机可读指令、数据结构、程序的模块或其他数据。计算机的存储介质的例子包括，但不限于相变内存(PRAM)、静态随机存取存储器(SRAM)、动态随机存取存储器(DRAM)、其他类型的随机存取存储器(RAM)、只读存储器(ROM)、电可擦除可编程只读存储器(EEPROM)、快闪记忆体或其他内存技术、只读光盘只读存储器(CD-ROM)、数字多功能光盘(DVD)或其他光学存储、磁盒式磁带，磁带磁磁盘存储或其他磁性存储设备或任何其他非传输介质，可用于存储可以被计算设备访问的信息。按照本文中的界定，计算机可读介质不包括暂存电脑可读媒体(transitory media)，如调制的数据信号和载波。
还需要说明的是，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、商品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、商品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、商品或者设备中还存在另外的相同要素。
本说明书一个或多个实施例可以在由计算机执行的计算机可执行指令的一般上下文中描述，例如程序模块。一般地，程序模块包括执行特定任务或实现特定抽象数据类型的例程、程序、对象、组件、数据结构等等。也可以在分布式计算环境中实践本说明书的一个或多个实施例，在这些分布式计算环境中，由通过通信网络而被连接的远程处理设备来执行任务。在分布式计算环境中，程序模块可以位于包括存储设备在内的本地和远程计算机存储介质中。
本说明书中的各个实施例均采用递进的方式描述，各个实施例之间相同相似的部分互相参见即可，每个实施例重点说明的都是与其他实施例的不同之处。尤其，对于系统实施例而言，由于其基本相似于方法实施例，所以描述的比较简单，相关之处参见方法实施例的部分说明即可。
以上所述仅为本文件的实施例而已，并不用于限制本文件。对于本领域技术人员来说，本文件可以有各种更改和变化。凡在本文件的精神和原理之内所作的任何修改、等同替换、改进等，均应包含在本文件的权利要求范围之内。

Claims (10)

  1. 一种绝对式位置测量装置，其特征在于，包括：
    绝对码道，包括非周期性布置的具有第一特性和第二特性的码元序列；
    增量码道，包括周期性布置的具有第一特性和第二特性的码元序列；
    绝对编码读取模块，用于通过传感单元对所述绝对码道的码元序列进行扫描，经运算生成最初有效绝对编码；
    绝对编码校正模块，用于对所述最初有效绝对编码进行分析运算处理，得到校正后的最终有效绝对编码，对所述最终有效绝对编码进行运算或查表，获得粗绝对位置信息；
    绝对码道增量位置信息生成模块，用于对所述最初有效绝对编码进行分析运算得到绝对码道单周期内位置信息；
    初级高分辨率位置信息生成模块，用于将所述绝对码道单周期内位置信息，结合所述粗绝对位置信息，得到初级高分辨率绝对位置信息，通过所述高分辨率绝对位置信息对增量码道进行索引，获得更高分辨率的位置信息。
  2. 根据权利要求1所述的装置，其特征在于，所述装置进一步包括：
    增量码道位置信息生成模块，用于通过对扫描元件扫描增量码道生成的模拟信号进行处理，得到正余弦信号，经细分运算生成增量码道单周期内位置信息；
    高级高分辨率位置信息生成模块，用于将所述高分辨率绝对位置信息与所述增量码道单周期内位置信息结合，得到更高分辨率绝对位置信息。
  3. 根据权利要求1所述的装置，其特征在于，
    所述绝对码道采用曼彻斯特码进行粗编码，其中，每位曼彻斯特码宽度均为B，每位宽度为B的曼彻斯特码对应所述绝对码道中的CA或CB，其中，CA由两组宽度相等的透光部分T1与不透光部分T2两种光学特性单 元组成，每组宽度P1＝B/2，其中，一个T1和一个T2为一组，CB被分为一组透光部分T1和一组不透光部分T2，其中，透光部分宽度为P1/2，不透光部分宽度为3P1/2；
    所述增量码道由透光部分T1和不透光部分T2两种光学特性单元组成，所述增量码道的刻线间隔P2＝P1/N，或者P2＝P1，其中，N为大于1的正整数；
    所述绝对码道的码元序列采用“1010”和“1000”、“1010”和“1011”、“0101”和“0100”、“0101”和“0111”、“101010”和“101000”、或者“10101010”和“10100000”的序列组合。
  4. 根据权利要求1所述的装置，其特征在于，所述绝对编码读取模块具体包括：
    差分运算单元，包括s+1个差分模块，用于分别通过对应的第i个差分模块依次对相邻两个周期内间隔3个传感单元的相应传感单元产生的模拟信号A i和A i+4进行差分运算，分别得到差分结果RC i，其中i＝1，2，3，……，s，s为大于等于4的整数；
    数值判断单元，包括s个判断模块，与所述差分运算单元连接，用于通过对应的第i个判断模块分别对所述差分结果RC i进行判断，若所述差分结果RC i与零的差值小于预设值，则判断结果为1，否则判断结果为0；
    逻辑与运算单元，包括s/4个运算模块，与所述数值判断单元连接，用于通过对应的运算模块分别对其对应的四组判断结果进行逻辑与运算，得到s/4个运算结果；其中，参与差分运算的两组传感单元若均处于增量周期“10”内时，运算结果为1，否则运算结果为0；
    汇总单元，包括两组，与所述逻辑与运算单元连接，每组分别用于对所述运算结果进行逐间隔位汇总，对所有排在奇数位的运算结果汇总得到绝对编码CABS'，对所有排在偶数位的运算结果汇总得到绝对编码CABS；
    求和运算单元，包括两组，与所述逻辑与运算单元连接，每组分别用 于对所述运算结果进行逐间隔位的求和运算，分别得到两组求和结果；
    所述差分运算单元进一步用于：通过第s+1个差分模块对所述两组求和结果进行比较大小，得到差值R，并对R进行判断，若R>0，则CABS为最初有效绝对编码，否则，CABS'为最初有效绝对编码。
  5. 根据权利要求4所述的装置，其特征在于，所述绝对编码校正模块具体包括：
    逻辑运算单元，用于将所述最初有效绝对编码的序列分组进行异或运算，并将运算结果进行逻辑与运算，得到RIN或RIN'值；
    逻辑判断单元，用于判断RIN'或RIN是否为1，当R≤0时，若RIN'为1，则CABS'即为最终有效绝对编码，若RIN'不为1，则判断最初有效编码序列CABS'首位M' 1是否为1，若为1，则在CABS'前插入数值0，并去除CABS'最后一位，得到最终有效绝对编码0-CABS'；若M' 1为0，则在CABS'前插入数值1，并去除CABS'最后一位，得到所述最终有效绝对编码1-CABS'；当R>0时，若RIN为1，则CABS即为所述最终有效绝对编码，若RIN不为1，则判断最初有效编码序列CABS首位M 1是否为1，若为1，则在CABS前插入数值0，并去除CABS最后一位，得到所述最终有效绝对编码0-CABS，若M 1为0，则在CABS前插入数值1，并去除CABS最后一位，得到所述最终有效绝对编码1-CABS。
  6. 根据权利要求1所述的装置，其特征在于，所述绝对码道增量位置信息生成模块具体包括：
    传感单元选择模块，用于对所述最初有效绝对编码序列进行分析，查找产生的所有所述最初有效绝对编码的序列中数值“1”所对应传感单元，根据其相位信息进行分组为SIN+、COS+、SIN-和COS-四组；
    加法器，与所述传感单元选择模块连接，用于将所有相位相同的模拟信号进行求和运算，得到增量位置信息INC0、INC90、INC180和INC270，即SIN+、COS+、SIN-和COS-；
    差分运算器，与所述加法器连接，用于将所述增量位置信息INC0与INC180和INC90与INC270分别进行差分运算后，得到相位差为90°的增量位置信息IN0和IN90，即SIN和COS信号，对所述SIN和COS信号进行细分运算，得到绝对码道单周期内位置信息INC P1。
  7. 根据权利要求1所述的装置，其特征在于，扫描元件中用于生成粗绝对位置信息和绝对码道增量位置信息的传感单元彼此相邻，位于CA和CB内的传感单元均被用于产生粗绝对位置信息，位于CA内的传感单元还被用于产生绝对码道增量位置信息。
  8. 根据权利要求1所述的装置，其特征在于，所述初级高分辨率位置信息生成模块具体用于：通过将所述绝对码道单周期内位置信息INC P1，结合所述粗绝对位置信息，生成初级高分辨率绝对位置信息ABS，对所述增量码道进行索引。
  9. 根据权利要求2所述的装置，其特征在于，所述高级高分辨率位置信息生成模块具体用于：利用初级高分辨率绝对位置信息ABS索引增量码道刻线周期，结合扫描增量码道获得的正余弦信号进行细分得到的增量码道单周期内位置信息INC P2，生成更高分辨率的绝对位置信息ABS F。
  10. 根据权利要求1或2所述的装置，其特征在于，所述装置进一步包括：
    校验模块，用于根据绝对码道生成的位置信息与增量码道生成的位置信息互相校验；
    分辨率选择模块，用于提供粗绝对位置信息、初级高分辨率绝对位置信息和高级高分辨率绝对位置信息三种分辨率的绝对位置信息，通过输出控制，可以选择不同分辨率的绝对位置信息输出。
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CN111289015A (zh) * 2018-12-10 2020-06-16 北京精雕科技集团有限公司 一种多分辨率绝对式位置测量装置

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