CN101852584A - Position measurement device based on two-dimensional pseudo-random code - Google Patents
Position measurement device based on two-dimensional pseudo-random code Download PDFInfo
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Abstract
The invention relates to a position measurement device based on a two-dimensional pseudo-random code, which belongs to the technical field of position measurement. The position measurement device is characterized by comprising a measurement coding ruler, a measurement head element, a stimulus signal generating unit, a signal conditioning unit and a position information processing unit, wherein an object to be measured is connected to the measurement coding ruler; the measurement coding ruler comprises non-magnetic coding elements, measurement magnetic coding elements, and fault-tolerant magnetic coding elements, wherein the non-magnetic coding elements and measurement magnetic coding elements are arranged correspondingly according to a measurement dimensional coding sequence mode and the fault-tolerant magnetic coding elements are inserted among different coding elements; the arrangement sequence of the fault-tolerant magnetic coding elements is in same correspondence to a fault-tolerant dimensional coding sequence; the coding elements are arranged according to the sequence and then are mutually coaxially connected; and the position information processing unit analyzes type information of the corresponding coding elements inside the measurement head element, wherein the type information is transmitted by the signal conditioning unit and is obtained by the sampling of the measurement head element, and the position information of the measured object is obtained after the type information is processed. The invention has the advantages of good extension property, high reliability and simple structure.
Description
Technical field
The invention belongs to the observation and control technology field, relate to the used coded system of a kind of position-measurement device and structural arrangement thereof, relate in particular to a kind of position-measurement device based on two-dimensional pseudo-random code.
Background technology
Measuring Object position and linear movement distance thereof are needed a kind of technology all have been arranged in each science and technology field since for a long time.Because measurement environment condition and measurement requirement under the various measurement situations are all different, have therefore developed and the various method that is used for Measuring Object position and linear movement distance thereof.
The known method that is used for Measuring Object movement position and linear movement distance mainly comprises analog and digital two big classes.
Analog location measurement method comprises contact and contactless two kinds again.The contact position-measurement device has different implementation methods, the position-measurement device of contact, device as potentiometer formula straight-line displacement measurement, it adopts a Metal Contact sheet to have with length on the measuring resistance chi of linear resistance variation relation at another and moves, by change in resistance between the end of measuring metallized metal contact chip and measuring resistance chi, try to achieve the position and the move distance of the object that is connected with the Metal Contact sheet.Its shortcoming is long-term the use easily because equipment attrition causes measuring accuracy to descend.Contactless position-measurement device as the LVDT method, is at long primary coil of a metal shell internal placement, and respectively arranges a secondary coil about it, and two secondary coils is symmetrical distribution.A movable bar-shaped iron core is at the coil groups internal motion, for the magnetic flux of coil provides the path, measures the signal output of two secondary coils, promptly can calculate the position and the displacement of the bar-shaped iron core that links to each other with testee.Laser displacement sensor utilizes the phasometer of measurement mechanism emitted laser bundle between the reflected light on the testee and original generation laser to calculate the position and the displacement of object exactly for another example.Magnetostriction position-measurement device and for example is to utilize to calculate on the mangneto waveguide steel wire position and the displacement that calculates object from the mangneto rotation wave travel-time that the position magnet that is connected with testee propagates into its end ripple detecting device.Also having Hall element, is to utilize to be connected with testee and to have to move in the uniform magnetic field of Hall element gradient of constant excitation electric current to produce and the Hall voltage of displacement direct ratio variation calculates the position and the displacement of object.More than various analog location measurement methods, all need to obtain actual object position and moving distance information after by the calculation relational expression conversion according to the parameter of measuring, in transfer process, be subjected to many internal and external factor influences in the relational expression, for the precision and the stability of the time reference of measuring very high requirement is just arranged as laser displacement sensor, the corresponding homogeneity in magnetic field of using of Hall element also can greatly influence measurement result.Owing to use analog measuring method, analog quantity also produces very big influence for measuring accuracy to the transfer process of digital quantity simultaneously.
The digital position measurement method comprises Weight and disk type again, and raster pattern, magnetic-grid-type and induction type etc. are multiple, and can roughly be divided into relative formula and absolute type two big classes.Digital relatively location measurement method mainly is to adopt the scale of the non-linear scale with linearity or certain rule as measuring basis, the measuring head that can represent movement of objects with testee move on scale, read the scale label number of process, because the distance of scale label is known, promptly can be converted into the position and the displacement of object.All adopt above-mentioned principle of work to carry out object position measurement as raster pattern or magnetic-grid-type sensor.Its shortcoming is to have adopted the relative measurement mode thus, accurately the absolute position of judgment object and original state position.
Absolute number formula location measurement method mainly is to adopt the benchmark scale of coding with certain rule or pseudo-random code as the witness mark benchmark, measuring head is read the current code value of scale high scale that can represent the movement of objects position, because the employed sign indicating number of scale is known and corresponding to the absolute coordinates position of determining, therefore the scale code value of reading according to measuring head promptly can be determined object space and displacement.The absolute position of the object that this method measures, and owing to adopt digitizing output, be convenient to and computer interface, but the coding of standard code preparation method on the present scale that adopts or employing certain rule, then its coded system is single, and the coding expandability is restricted, and degree extended coding scale is difficult to use with diversified situation of encoding for requiring greatly; The pseudo-random code method that adopts is to be carved with the pseudo-random code scale that a series of scale-of-two change on scale at present, the pseudo-random code of any position correspondence does not have direct logical relation with the binary code of expression object space, each measuring head is read to table look-up after the current pseudo-random code and is determined corresponding binary code, obtains object space information.Though this method is with good expansibility, but in actual use, because coding adopts pseudo-random code coded system completely, therefore, exist the measuring head detection position to be positioned at the situation of two adjacent and different binary condition intersections just, promptly may produce wrong measurement output this moment, particularly corresponding measuring head reads the situation of a plurality of positions simultaneously, and the error code of its generation needs extra operation or just can proofread and correct by the mode that changes object space a little.In addition, because the uncertainty of pseudo-random code, the probability of happening frequency of corresponding error code also is a random quantity different with the position, and this will have influence on the stability and the gamut measuring accuracy of position measurement.All having adopted at patent DE 10244235A1 and Chinese patent 200810184424.2 " position-measurement device and be used for determining the method for absolute position " increases a method that is parallel to the incremental track of scale, and the method that improves the tape measure precision is provided.But this mode can't be used for the situation that incremental track can't be installed.Simultaneously, the use of incremental track also can't change the situation that causes error code when the corresponding measuring head of pseudo-random code reads a plurality of position code because its to be the randomness of pseudo-random code position be coupled with the measuring head position at all causes.
Summary of the invention
The purpose of this invention is to provide a kind of height fault-tolerant ability that has, can be used for station location marker and measurement, based on the position-measurement device of two-dimensional pseudo-random code.
The invention is characterized in, contain one and measure coded level ruler, a measuring head element, a pumping signal generating unit, a signal condition unit and a position information process unit, wherein:
Measure coded level ruler B, magnetic conduction encoder element by some non-magnetic conduction encoder element Ba and two kinds of different-diameter same materials, Bb and Bc, staggered coaxial connecting and composing, wherein the less a kind of magnetic conduction encoder element of diameter is called measurement magnetic conduction encoder element Bb, and its diameter is identical with described non-magnetic conduction encoder element Ba diameter; The bigger magnetic conduction encoder element of another kind of diameter is called fault-tolerant magnetic conduction encoder element Bc, and its diameter is at least 1.5 times of described measurement magnetic conduction encoder element Bb diameter and less than described measuring head element internal channel diameter; Wherein said non-magnetic conduction encoder element Ba is total to the E section by the 1st to the E section altogether and constitutes, and uses Ba1, Ba2, ..., BaE represents that described measurement magnetic conduction encoder element Bb is total to the F section by the 1st to the F section altogether and constitutes, use Bb1, Bb2 ..., BbF represents, described fault-tolerant magnetic conduction encoder element Bc is total to the G section by the 1st to the G section altogether and constitutes, and uses Bc1, Bc2, ..., BcG represents; Described each non-magnetic conduction encoder element Ba and described total U of magnetic conduction encoder element, the U=E+F of respectively measuring; U, E, F and G value all are predefined;
Described measurement coded level ruler B has two ends, and wherein the end face of an end is a front end face, and the end face of the other end is a rear end face, and described front end face and rear end face are predefined;
The described position-measurement device measurement step pitch length UL of the unit of preestablishing; Step pitch length UL measures in described unit: carry out in the space of position measurement, need to differentiate the integral multiple of minimum length between each position;
The described position-measurement device unit of preestablishing is fault-tolerant apart from length CL; Described unit is fault-tolerant apart from length CL, is determined by the processing and the alignment error of described measuring head element and described measurement coded level ruler, relates to:
I) positivity bias and: in the described measurement coded level ruler, each non-magnetic conduction encoder element or measurement magnetic conduction encoder element, the absolute value sum of maximum forward machining deviation and maximum forward installation deviation, in described measuring head element, any two adjacent measurement secondary coils are along described measuring head element axial direction, distance between the midsection, the absolute value sum of maximum negative sense machining deviation and maximum negative sense installation deviation, these two value sums; Described each positivity bias is all represented the deviation of actual processing dimension greater than design size, and described each negative sense deviation is all represented the deviation of actual processing dimension less than design size;
II) the negative sense deviation and: in the described measurement coded level ruler, each non-magnetic conduction encoder element or measurement magnetic conduction encoder element, the absolute value sum of maximum negative sense machining deviation and maximum negative sense installation deviation, in described measuring head element, any two adjacent measurement secondary coils are along described measuring head element axial direction, distance between the midsection, the absolute value sum of maximum forward machining deviation and maximum forward installation deviation, these two value sums; Described each positivity bias is all represented the deviation of actual processing dimension greater than design size, and described each negative sense deviation is all represented the deviation of actual processing dimension less than design size;
III) loop length deviation: in the described measuring head element, each measures secondary coil, the absolute value sum of maximum machining deviation and maximum installation deviation;
Described each processing and installation deviation are all represented along the deviate of described measuring head element axial direction;
Described unit is fault-tolerant to be not less than apart from length CL: described positivity bias and with described negative sense deviation and these two values in maximal value, with described measurement secondary coil length variation, half length of the two sum; And described unit is fault-tolerant to be not more than apart from length CL: step pitch length UL measures in 1/2nd described unit;
Described measurement coded level ruler B is that step pitch length UL measures in U unit doubly along self axial direction total length; Front end face from described measurement coded level ruler B, on described measurement coded level ruler B, each is the part that step pitch length UL measures in unit along described measurement coded level ruler B axial direction length in turn, described non-magnetic conduction encoder element Ba on the corresponding described measurement coded level ruler B or measurement magnetic conduction encoder element Bb; At a described non-magnetic conduction encoder element Ba and a described measurement magnetic conduction encoder element Bb, correspond respectively to described measurement coded level ruler B last two adjacent, the length unit of being measures in the structure of step pitch length UL part, between described non-magnetic conduction encoder element Ba and described measurement magnetic conduction encoder element Bb, be connected with a described fault-tolerant magnetic conduction encoder element Bc coaxially, be described fault-tolerant magnetic conduction encoder element Bc and described measurement coded level ruler B coaxial arrangement, two ends connect described non-magnetic conduction encoder element Ba and described measurement magnetic conduction encoder element Bb coaxially respectively; Described fault-tolerant magnetic conduction encoder element Bc is that 2 times unit is fault-tolerant apart from length CL along described measurement coded level ruler B axial direction length;
On the described measurement coded level ruler B, the length of described non-magnetic conduction encoder element Ba of each several part or measurement magnetic conduction encoder element Bb is incomplete same; The length of each described non-magnetic conduction encoder element Ba or measurement magnetic conduction encoder element Bb, be one of following three types length: or be that step pitch length UL measures in a described unit, or be that a described unit measures step pitch length to deduct a described unit fault-tolerant apart from length (UL-CL), or be that a described unit measures step pitch length to deduct 2 described units fault-tolerant apart from length (UL-2CL); The length of concrete each described magnetic conduction encoder element Ba or measurement magnetic conduction encoder element Bb is determined by relative position between described encoder element and other the described encoder elements and annexation;
On described non-magnetic conduction encoder element Ba or measurement magnetic conduction encoder element Bb two ends, direct coaxial connection is the structure division of the described encoder element of two other same type respectively, and the length of described non-magnetic conduction encoder element Ba or measurement magnetic conduction encoder element Bb is that step pitch length UL measures in a described unit;
On described non-magnetic conduction encoder element Ba or measurement magnetic conduction encoder element Bb two ends, the described encoder element of direct another same type of coaxial connection of one end, the other end does not connect the structure division of other described encoder element, and the length of described non-magnetic conduction encoder element Ba or measurement magnetic conduction encoder element Bb is that step pitch length UL measures in a described unit;
On described non-magnetic conduction encoder element Ba or measurement magnetic conduction encoder element Bb two ends, the described encoder element of direct another same type of coaxial connection of one end, and the structure division of a described fault-tolerant magnetic conduction encoder element Bc of the direct coaxial connection of the other end, the length of described non-magnetic conduction encoder element Ba or measurement magnetic conduction encoder element Bb is (UL-CL), promptly is equivalent to a described measurement step pitch length UL of unit and deducts the fault-tolerant length that obtains apart from length CL of described unit;
On described non-magnetic conduction encoder element Ba or measurement magnetic conduction encoder element Bb two ends, described fault-tolerant magnetic conduction encoder element Bc of the direct coaxial connection of one end, and the other end does not connect the structure division of other described encoder element, the length of described non-magnetic conduction encoder element Ba or measurement magnetic conduction encoder element Bb is (UL-CL), promptly is equivalent to a described measurement step pitch length UL of unit and deducts the fault-tolerant length that obtains apart from length CL of described unit;
On the two ends of described non-magnetic conduction encoder element Ba or measurement magnetic conduction encoder element Bb, direct coaxial connection is the structure division of two other described fault-tolerant magnetic conduction encoder element Bc respectively, the length of described non-magnetic conduction encoder element Ba or measurement magnetic conduction encoder element Bb is (UL-2CL), promptly is equivalent to a described measurement step pitch length UL of unit and deducts 2 times of fault-tolerant length that obtain apart from length CL of described unit;
The structure of described non-magnetic conduction encoder element Ba or measurement magnetic conduction encoder element Bb different length, guaranteed: from the front end face of described measurement coded level ruler B, on described measurement coded level ruler B, each is the part that step pitch length UL measures in unit along described measurement coded level ruler B axial direction, the length of corresponding described non-magnetic conduction encoder element Ba or measurement magnetic conduction encoder element Bb, not with structure that any described fault-tolerant magnetic conduction encoder element Bc is connected in, be that step pitch length UL measures in a described unit; With structure that described fault-tolerant magnetic conduction encoder element Bc is connected in, the length of described non-magnetic conduction encoder element Ba or measurement magnetic conduction encoder element Bb, after half length sum addition of all described fault-tolerant magnetic conduction encoder element Bc that are connected, total length still is that step pitch length UL measures in a described unit; The length of described each encoder element is along described measurement coded level ruler B axial direction;
The described non-magnetic conduction encoder element Ba of on the described measurement coded level ruler B each, measurement magnetic conduction encoder element Bb and fault-tolerant magnetic conduction encoder element Bc, mutual alignment on described measurement coded level ruler B concerns and is connected order, according to predefined two-dimensional pseudo-random code sequence in corresponding each symbol, first sign-on from sequence, the same order of arranging is arranged from front to back;
Described two-dimensional pseudo-random code sequence, comprise: tie up coded sequence by the measurement that a series of binits " 0 " with pseudo-random distribution feature or " 1 " constitute, and other fault-tolerant dimension coded sequence by series of sign "+" or "-" formation, described fault-tolerant dimension coded sequence also has the pseudo-random distribution feature, and its pseudo-random distribution feature directly depends on the pseudo-random distribution feature of the binary symbol sequence in the described measurement dimension coded sequence;
Binit " 0 " in the described measurement dimension coded sequence is corresponding to each the described non-magnetic conduction encoder element Ba on the described measurement coded level ruler B; Binit " 1 " in the described measurement dimension coded sequence is corresponding to each the described measurement magnetic conduction encoder element Bb on the described measurement coded level ruler B; Symbol "+" in the described fault-tolerant dimension coded sequence is corresponding to each the described fault-tolerant magnetic conduction encoder element Bc on the described measurement coded level ruler B; Symbol "-" in the described fault-tolerant dimension coded sequence, on described measurement coded level ruler B, between the described encoder element of any two same types, the tie point of direct coaxial connection;
The structure of described measurement coded level ruler B has following feature: from described measurement coded level ruler B, any one described non-magnetic conduction encoder element Ba or measurement magnetic conduction encoder element Bb centroid position begin, axial along described measurement coded level ruler B, from front end face to the rear end face direction, step pitch length UL measures in every interval V unit doubly, the type of a described encoder element in corresponding position of record, write down the type of the corresponding described encoder element in S position continuously altogether, and constitute a corresponding codes combination of element types, then structural corresponding to described measurement coded level ruler B, in the corresponding encoder element type combination that might obtain, any two described encoder element type combination are all inequality;
Described measuring head element comprises: measure primary coil A2 for one, some uniformly-spaced arrangements and the measurement secondary coil A1 that arranges with the common magnetic axis of described measurement primary coil A2; The 1st to S is total to S described measurement secondary coil, with corresponding respectively label A11, A12 ..., A1S represents; The described measurement secondary coil of any two adjacent layouts is distinguished correspondence in the described measuring head element, along the distance between two midsections of described measuring head element axial direction, is set at V unit doubly and measures step pitch length UL; The described length of respectively measuring secondary coil along described measuring head element axial direction, it is fault-tolerant apart from length CL to be 2 times of units; Described measurement primary coil A2 is along described measuring head element axial direction length, for step pitch length UL measures in S*V unit doubly; Whole described measurement secondary coils are arranged in described measurement primary coil A2 along between former and later two end faces of described measuring head element axial direction; Front end face on the described measurement primary coil A2 points to the direction of rear end face, promptly is equivalent to along described measuring head element axial direction, and the front end face on the described measuring head element points to the direction of rear end face; Described S and V value are predefined; The described order of respectively measuring secondary coil and described measurement primary coil A2 along described measuring head element radial arrangement, preestablish according to the environment for use situation: or the described secondary coil of respectively measuring is arranged in the described measurement primary coil A2 outside, or described measurement primary coil A2 is arranged in the described secondary coil outside of respectively measuring;
Described measurement coded level ruler B is along described measuring head element axial direction, to-and-fro movement in described measuring head element internal passage; On described measuring head element, axial along described measuring head element, from the direction of described measuring head element front end face sensing rear end face, on described measurement coded level ruler B, axial along described measurement coded level ruler B, the direction of pointing to rear end face from the front end face of described measurement coded level ruler B is identical;
The described measurement secondary coil of in the described measuring head element each is used to read described measuring head element internal corresponding position, and described measurement coded level ruler B goes up the type information of corresponding described encoder element; In measuring overall process, all S described measurement secondary coil inside all has the part of measuring on the coded level ruler B to exist all the time;
Described pumping signal generating unit H1, be in series successively by an excitation signal generator R1 and a pumping signal amplifier R2, two lead ends of described measurement primary coil A2 in two output terminals of described pumping signal amplifier R2 and the described measuring head element link to each other respectively, providing after the amplification, the ac-excited signal that uses for described measuring head element;
Described signal condition unit H2 is made of side by side p road signal conditioning circuit, and p=S, the described signal conditioning circuit in every road be by a differential signal amplifier Jx, x=1 ..., p and a low-pass filter Ky, y=1 ..., p is in series successively; Two input ends of the differential signal amplifier in the signal conditioning circuit of every road, respectively with corresponding described measurement secondary coil A1z, z=1 ..., S, two lead ends link to each other, p is predefined;
Described position information process unit H3 contains: Chuan Lian A/D converter M and industrial computer N successively; Any time of described measurement coded level ruler B in described measuring head element internal to-and-fro movement process, measure secondary coil for described S, produce respectively be in separately inner, the corresponding induced voltage signal of described encoder element type on the described measurement coded level ruler B, S described induced voltage signal altogether; Described each induced voltage signal after the described differential signal amplifier of each correspondence of process and low-pass filter are changed, obtains each d. c. voltage signal with the proportional variation of each described induced voltage signal; Each described d. c. voltage signal inserts each the corresponding input end on the described A/D converter again, is converted to through described A/D converter: with each digital voltage signal of the corresponding proportional variation of each described induced voltage signal; Described each digital voltage signal is sent into described industrial computer N, described industrial computer N is through handling each the described digital voltage signal that obtains, obtain: between the baseline cross-section JZ2 that sets on reference point JZ1 that described measurement coded level ruler B go up to set and the described measuring head element apart from FL and orientation, promptly be equivalent to have determined the relative position relation between described reference point JZ1 and the described baseline cross-section JZ2; In the measurement, fixing described measuring head element is determined the position in the space, the position of the baseline cross-section JZ2 that sets on the then described measuring head element is determined, according to the described relative position relation that obtains, has just determined that described measurement coded level ruler B goes up the position of the reference point JZ1 that sets;
Described industrial computer N once samples and obtains, and S described digital voltage signal altogether represented to be in S measurement secondary coil inside, described encoder element type on the corresponding described measurement coded level ruler B respectively; Corresponding with each the described encoder element type that obtains, common S the symbol that uses in the described two-dimensional pseudo-random code sequence arranged the back in order and formed the code value of determining; Described code value, and described reference point JZ1 between the described baseline cross-section JZ2 apart from FL and orientation, the corresponding relation of determining between the two is known; That is, obtain a described code value, determined corresponding described reference point JZ1 and relative position relation between the described baseline cross-section JZ2 with regard to corresponding;
The required testee that carries out position measurement is connected on the described measurement coded level ruler B in advance, and is synchronized with the movement with described measurement coded level ruler B; The barycenter JZ0 of described testee, and the relative position relation between the reference point JZ1 on the described measurement coded level ruler B determine according to the actual measured results after connecting; In the measuring process of position, under the known situation of the described reference point JZ1 of correspondence and the relative position relation between the described baseline cross-section JZ2, further determine the barycenter JZ0 of described testee and the relative position relation between the described baseline cross-section JZ2; The position of in described space, determining according to the baseline cross-section JZ2 on the described measuring head element, and then determine the position that the barycenter JZ0 of described testee determines in described space, promptly be equivalent to determine the position of described testee;
Described measurement coded level ruler (B) is gone up the reference point JZ1 that sets, and is the center of the described front end face on the described measurement coded level ruler B; The baseline cross-section JZ2 that sets on the described measuring head element, in described measuring head element, on nearest first described measurement secondary coil of front end face of the described measuring head element of distance, along described measuring head element axial direction, the central cross-section of length;
Described industrial computer N uses built-in code value and location conversion module, carries out described code value conversion according to following steps, and the position judgment operation:
Step (1): described industrial computer N initialization:
Setting switch transition zone bit initial value is " 0 "; The switch transition zone bit is " 1 " expression: current described measuring head element reads, corresponding to each described measurement secondary coil inside, the described encoder element type on the described measurement coded level ruler B can not be used for the code value conversion operations; The switch transition zone bit is " 0 " expression: current described measuring head element reads, each described measurement secondary coil inside, the described encoder element type on the described measurement coded level ruler B allows to be used to carry out the code value conversion operations;
Set the initial sampling instant t0 of described industrial computer N, and set the sampling time interval dt of circulating sampling when waiting;
Set described industrial computer N in each sampling instant, the sampled point number that reads simultaneously, described sampled point number quantitatively equal total numerical value S of described measurement secondary coil;
Read in described code value and the location conversion module that step pitch length UL measures in predefined described unit and unit is fault-tolerant apart from length CL;
Set in the described measuring head element, the described measurement secondary coil of any two adjacent layouts, along the distance between the axial midsection of described measuring head element, measure step pitch length UL for the doubly described unit of V separately, the V value is predefined in described code value and location conversion module;
Read predefined in described code value and the location conversion module " measure the dimension coding and read code value and position of rule mapping table " and " measure dimension encode read code value encode with fault-tolerant dimension read the corresponding syntagmatic table of code value ";
Setting is by measuring in advance, between the reference point JZ1 on the barycenter JZ0 of described testee and the described measurement coded level ruler B distance W L and the position in described space, determined of baseline cross-section JZ2 on orientation and the described measuring head element;
Reading pre-stored, corresponding to current pumping signal level and mounting condition, described measurement secondary coil inside, it is pairing that described measurement coded level ruler B goes up different described encoder element type parts, described industrial computer N should read, following each standard digital voltage signal values:
1) V0: when certain described measurement secondary coil inside, when the described measurement coded level ruler part between following thereon two end faces only has described non-magnetic conduction encoder element to exist, the corresponding standard digital voltage signal values that industrial computer should read;
2) V1: when certain described measurement secondary coil inside, when the described measurement coded level ruler part between following thereon two end faces only has described measurement magnetic conduction encoder element to exist, the corresponding standard digital voltage signal values that industrial computer should read;
3) V2: when certain described measurement secondary coil inside, when the described measurement coded level ruler part between following thereon two end faces only has described fault-tolerant magnetic conduction encoder element to exist, the corresponding standard digital voltage signal values that industrial computer should read;
Set the limit deviation ratio dV% of each described digital voltage signal and corresponding described standard digital voltage signal values, described limit deviation ratio dV% represents that with the percentages form described limit deviation ratio dV% value is not more than 50%;
Step (2): the described initial sampling instant t0 of described industrial computer N from setting, dt once samples every sampling time interval, and constantly repeats above-mentioned sampling process, circulating sampling when realizing waiting; In any described sampling instant, described industrial computer N once reads whole S described digital voltage signals, and compares with each standard digital voltage signal values of described setting:
If: certain described digital voltage signal is less than (V0+V1)/2, and with the absolute value of the difference of (V0+V1)/2 greater than described limit deviation ratio dV% (V0+V1) value doubly, then assert: under current sampling instant, in the described measurement secondary coil inside of this described digital voltage signal correspondence, corresponding what exist is described non-magnetic conduction encoder element on the described measurement coded level ruler; Simultaneously, with the corresponding symbol " 0 " that uses in the described two-dimensional pseudo-random code, represent under the current sampling instant the described encoder element type of described measurement secondary coil inside;
If: certain described digital voltage signal is greater than (V0+V1)/2, and with the absolute value of the difference of (V0+V1)/2 greater than described limit deviation ratio dV% (V0+V1) value doubly, this digital voltage signal is not more than (1+dV%) V1 value doubly simultaneously, then assert: under current sampling instant, in the described measurement secondary coil inside of this described digital voltage signal correspondence, corresponding what exist is described measurement magnetic conduction encoder element on the described measurement coded level ruler; Simultaneously, with the corresponding symbol " 1 " that uses in the described two-dimensional pseudo-random code, represent under the current sampling instant the corresponding described encoder element type of described measurement secondary coil inside;
If: certain described digital voltage signal is greater than (1+dV%) V1 value doubly, then assert: under current sampling instant, in the described measurement secondary coil inside of this described digital voltage signal correspondence, corresponding what exist is described fault-tolerant magnetic conduction encoder element on the described measurement coded level ruler; Simultaneously, with the corresponding symbol "+" that uses in the described two-dimensional pseudo-random code, represent under the current sampling instant described measurement secondary coil inside, corresponding described encoder element type;
Step (3): with what obtain in the step (2), under the current sampling instant, the inner described encoder element type correspondence of all described measurement secondary coils, be total to the symbol that uses in S the described two-dimensional pseudo-random code, sequential combination is the symbol sebolic addressing that reads of a correspondence, and is used for described code value and position conversion:
If: current sampling instant obtains, described reading in the symbol sebolic addressing, only there are described symbol " 0 " or " 1 ", then with the described symbol sebolic addressing that reads, measurement dimension coding as current sampling instant reads code value, search predefined in described code value and the location conversion module " measure the dimension coding and read code value and position of rule mapping table ", obtain described measurement dimension coding and read the code value correspondence, between the baseline cross-section JZ2 that sets on the reference point JZ1 that described measurement coded level ruler B go up to set and the described measuring head element apart from FL and orientation, and encode by the described measurement dimension that described industrial computer N writes down current sampling instant and to read code value; Simultaneously, read with described that each symbol correspondence replaces with described symbol "-" in the symbol sebolic addressing, constitute one with described to read the symbol sebolic addressing symbol numbers identical, whole new symbol sebolic addressings of forming by described symbol "-", described new symbol sebolic addressing reads code value as the fault-tolerant dimension coding of current sampling instant, and reads code value by the described fault-tolerant dimension coding that reads symbol sebolic addressing and current sampling instant of described industrial computer N record; Simultaneously, the switch transition zone bit is set and is " 0 ";
If: the described symbol sebolic addressing that reads that current sampling instant obtains, compare with the described symbol sebolic addressing that reads that last sampling instant obtains, described the reading in the symbol sebolic addressing that obtains in last sampling instant, the position that described symbol "+" do not occur, symbol "+" has newly appearred, and described the reading in the symbol sebolic addressing that last sampling instant obtains, the position that described symbol "+" occurred, still there is symbol "+", then the described measurement dimension coding with last sampling instant correspondence reads code value, described measurement dimension coding as current sampling instant reads code value, obtains the positional information identical with last sampling instant; Simultaneously, "+" expression is still used in the described position that occurs described symbol "+" in the symbol sebolic addressing of reading, the symbol correspondence of other each positions replaces with described symbol "-", constitute one with described to read the symbol sebolic addressing symbol numbers identical, the new symbol sebolic addressing of forming by described symbol "-" and "+", described new symbol sebolic addressing reads code value as the fault-tolerant dimension coding of current sampling instant, and reads code value by the described fault-tolerant dimension coding that reads symbol sebolic addressing and current sampling instant of described industrial computer N record; Simultaneously, the switch transition zone bit is set and is " 1 ";
If: the described symbol sebolic addressing that reads that current sampling instant obtains, compare with the described symbol sebolic addressing that reads that last sampling instant obtains, described the reading in the symbol sebolic addressing that obtains in last sampling instant, the position that described symbol "+" occurs, symbol " 0 " or " 1 " have newly appearred, and described the reading in the symbol sebolic addressing that last sampling instant obtains, the position that described symbol "+" do not occur, still there is not symbol "+" to exist, then, carry out to judge according to described switch transition zone bit state:
If: the described switch transition zone bit of last sampling instant record is " 1 ", then read last sampling instant record, described measurement dimension coding reads code value and fault-tolerant dimension coding reads code value, and according to predefined in described code value and the location conversion module " measure the dimension coding read code value encode with fault-tolerant dimension read the corresponding syntagmatic table of code value ", find in the described table, described last sampling instant record is measured the dimension coding and is read the combination correspondence that code value and fault-tolerant dimension coding read code value, and another described measurement dimension coding reads code value; And described another that will find measured, and tieing up encodes reads code value, measurement dimension coding as current sampling instant reads code value, according to described modular converter predefined " measure the dimension coding and read code value and position of rule mapping table ", obtain described measurement dimension coding and read the code value correspondence, described measurement coded level ruler B go up between the baseline cross-section JZ2 that sets on the reference point JZ1 that sets and the described measuring head element apart from FL and orientation; Simultaneously, the fault-tolerant dimension coding of last sampling instant record is read code value, fault-tolerant dimension coding as current sampling instant reads code value, and by the measurement dimension coding that described industrial computer N writes down described current sampling instant read code value, fault-tolerant dimension coding reads code value and reads symbol sebolic addressing; Simultaneously, the switch transition zone bit is set and is " 0 ";
If: the described switch transition zone bit of last sampling instant record is " 0 ", then described industrial computer N, the described measurement dimension coding that reads last sampling instant record reads code value and fault-tolerant dimension coding reads code value, read code value and fault-tolerant dimension coding reads code value as the measurement of current sampling instant dimension coding, obtain the positional information identical with last sampling instant; Simultaneously, the switch transition zone bit is set and is " 0 ";
Step (4): described industrial computer N, according to what obtain, between the baseline cross-section JZ2 that sets on reference point JZ1 that described measurement coded level ruler B go up to set and the described measuring head element apart from FL and orientation, and it is predefined, distance W L and orientation between the reference point JZ1 on the barycenter JZ0 of described testee and the described measurement coded level ruler B, predefined in addition, the position that baseline cross-section JZ2 on the described measuring head element determines in described space obtains and exports the positional information that the barycenter JZ0 of described testee determines in described space;
Step (5): continuous repeating step (2)～(4), described position-measurement device is realized continuous, under arbitrary sampling instant, for the measuring operation of described testee position.
Effect of the present invention is, described a kind of position-measurement device based on two-dimensional pseudo-random code, structure and principle work based on the two-dimensional pseudo-random code form, compare with original all places measuring technique, have the following advantages and the high-lighting effect: 1, owing to adopted two-dimensional pseudo-random code to carry out the expression and the measurement of absolute position, make tested length range, can and constantly be expanded along with the increase of two-dimensional pseudo-random code figure place, improved in the existing deterministic encoding method shortcoming that is difficult to expand for the expression and the measurement range of absolute position; 2, owing to structure and the method used based on described two-dimensional pseudo-random code, carry out position measurement, the error code problem that a plurality of bits of coded of having avoided existing in the pseudo-random code formula metering system in the past produce when changing has simultaneously improved the reliability of coding and the validity of measurement greatly; 3, in solving known technology, when the transition state that adopts incremental track still can't avoid fully may cause error condition, do not need to write down a large amount of pilot process and become sign indicating number, not only improved efficiency of measurement, also saved a large amount of storage spaces, made that described position-measurement device structure is greatly simplified; 4, processing and installation requirement have been reduced to the measuring head element, better bearing accuracy and fault-tolerant ability are provided, particularly under the situation of measuring transition state, do not need other supplementary equipment therefore and parts, can realize the fault-tolerant and measuring-signal correction of multisensor, big and the high special occasions of measurement requirement has good applicability to various installation difficulty.
Description of drawings
Fig. 1 is based on the structural representation of the position-measurement device of two-dimensional pseudo-random code
Fig. 2 is based on the synoptic diagram of an embodiment of the position-measurement device of two-dimensional pseudo-random code
Fig. 3 measures the synoptic diagram of coded level ruler under another kind of diverse location situation among Fig. 2 embodiment
Fig. 4 a～Fig. 4 j is that the various installations between the dissimilar encoder elements concern synoptic diagram
Fig. 5 is based on the synoptic diagram of the measurement number of comparisons of the position-measurement device of two-dimensional pseudo-random code and previous position measurement mechanism
As follows to each label declaration in the accompanying drawing:
Label declaration among Fig. 1
| Number in the figure | Label declaration | Number in the figure | Label declaration |
| ??A11 | Measure secondary coil | ??A12 | Measure secondary coil |
| ??A13 | Measure secondary coil | ??A1S | Measure secondary coil |
| ??A2 | Measure primary coil | ??B | Measure coded level ruler |
| ??Ba1 | Non-magnetic conduction encoder element | ??Ba2 | Non-magnetic conduction encoder element |
| ??Ba3 | Non-magnetic conduction encoder element | ??BaE | Non-magnetic conduction encoder element |
| ??Bb1 | Measure the magnetic conduction encoder element | ??Bb2 | Measure the magnetic conduction encoder element |
| Number in the figure | Label declaration | Number in the figure | Label declaration |
| ??Bb3 | Measure the magnetic conduction encoder element | ??Bb4 | Measure the magnetic conduction encoder element |
| ??Bb(F-1) | Measure the magnetic conduction encoder element | ??BbF | Measure the magnetic conduction encoder element |
| ??Bc1 | Fault-tolerant magnetic conduction encoder element | ??Bc2 | Fault-tolerant magnetic conduction encoder element |
| ??Bc3 | Fault-tolerant magnetic conduction encoder element | ??Bc4 | Fault-tolerant magnetic conduction encoder element |
| ??Bc(G-2) | Fault-tolerant magnetic conduction encoder element | ??Bc(G-1) | Fault-tolerant magnetic conduction encoder element |
| ??BcG | Fault-tolerant magnetic conduction encoder element | ??CL | Unit is fault-tolerant apart from length |
| ??FL | The distance of reference point and baseline cross-section | ??H1 | The pumping signal generating unit |
| ??H2 | The signal condition unit | ??H3 | The position information process unit |
| ??J1 | The differential signal amplifier | ??J2 | The differential signal amplifier |
| ??J3 | The differential signal amplifier | ??Jp | The differential signal amplifier |
| ??JZ0 | The barycenter of testee | ??JZ1 | Measure the reference point on the coded level ruler |
| ??JZ2 | Baseline cross-section on the measuring head element | ??K1 | Low-pass filter |
| ??K2 | Low-pass filter | ??K3 | Low-pass filter |
| ??Kp | Low-pass filter | ??M | A/D converter |
| ??N | Industrial computer | ??R1 | Excitation signal generator |
| ??R2 | The pumping signal amplifier | ??UL | Step pitch length is measured by unit |
| ??WL | Distance between barycenter and the reference point | ??WT | Testee |
Label declaration among Fig. 2
| Number in the figure | Label declaration | Number in the figure | Label declaration |
| ??A11 | Measure secondary coil | ??A12 | Measure secondary coil |
| ??A13 | Measure secondary coil | ??A2 | Measure primary coil |
| ??B | Measure coded level ruler | ??Ba1 | Non-magnetic conduction encoder element |
| ??Ba2 | Non-magnetic conduction encoder element | ??Ba3 | Non-magnetic conduction encoder element |
| ??Ba4 | Non-magnetic conduction encoder element | ??Ba5 | Non-magnetic conduction encoder element |
| ??Ba6 | Non-magnetic conduction encoder element | ??Bb1 | Measure the magnetic conduction encoder element |
| ??Bb2 | Measure the magnetic conduction encoder element | ??Bb3 | Measure the magnetic conduction encoder element |
| ??Bb4 | Measure the magnetic conduction encoder element | ??Bc1 | Fault-tolerant magnetic conduction encoder element |
| ??Bc2 | Fault-tolerant magnetic conduction encoder element | ??Bc3 | Fault-tolerant magnetic conduction encoder element |
| ??FL | The distance of reference point and baseline cross-section | ??H1 | The pumping signal generating unit |
| ??H2 | The signal condition unit | ??H3 | The position information process unit |
| ??J1 | The differential signal amplifier | ??J2 | The differential signal amplifier |
| ??J3 | The differential signal amplifier | ??JZ0 | The barycenter of testee |
| ??JZ1 | Measure the reference point on the coded level ruler | ??JZ2 | Baseline cross-section on the measuring head element |
| ??K1 | Low-pass filter | ??K2 | Low-pass filter |
| ??K3 | Low-pass filter | ??M | A/D converter |
| ??N | Industrial computer | ??R1 | Excitation signal generator |
| ??R2 | The pumping signal amplifier | ??WL | Distance between barycenter and the reference point |
| ??WT | Testee |
Label declaration among Fig. 3
| Number in the figure | Label declaration | Number in the figure | Label declaration |
| ??A11 | Measure secondary coil | ??A12 | Measure secondary coil |
| ??A13 | Measure secondary coil | ??A2 | Measure primary coil |
| ??B | Measure coded level ruler | ??Ba1 | Non-magnetic conduction encoder element |
| ??Ba2 | Non-magnetic conduction encoder element | ??Ba3 | Non-magnetic conduction encoder element |
| ??Ba4 | Non-magnetic conduction encoder element | ??Ba5 | Non-magnetic conduction encoder element |
| ??Ba6 | Non-magnetic conduction encoder element | ??Bb1 | Measure the magnetic conduction encoder element |
| ??Bb2 | Measure the magnetic conduction encoder element | ??Bb3 | Measure the magnetic conduction encoder element |
| ??Bb4 | Measure the magnetic conduction encoder element | ??Bc1 | Fault-tolerant magnetic conduction encoder element |
| ??Bc2 | Fault-tolerant magnetic conduction encoder element | ??Bc3 | Fault-tolerant magnetic conduction encoder element |
| ??FL | The distance of reference point and baseline cross-section | ??H1 | The pumping signal generating unit |
| ??H2 | The signal condition unit | ??H3 | The position information process unit |
| ??J1 | The differential signal amplifier | ??J2 | The differential signal amplifier |
| ??J3 | The differential signal amplifier | ??JZ0 | The barycenter of testee |
| ??JZ1 | Measure the reference point on the coded level ruler | ??JZ2 | Baseline cross-section on the measuring head element |
| ??K1 | Low-pass filter | ??K2 | Low-pass filter |
| ??K3 | Low-pass filter | ??M | A/D converter |
| ??N | Industrial computer | ??R1 | Excitation signal generator |
| ??R2 | The pumping signal amplifier | ??WL | Distance between barycenter and the reference point |
| ??WT | Testee |
Label declaration among Fig. 4 a
| Number in the figure | Label declaration | Number in the figure | Label declaration |
| ??Bb1 | Measure the magnetic conduction encoder element | ??Bb2 | Measure the magnetic conduction encoder element |
| ??Bb3 | Measure the magnetic conduction encoder element | ??UL | Step pitch length is measured by unit |
Label declaration among Fig. 4 b
| Number in the figure | Label declaration | Number in the figure | Label declaration |
| ??Bb1 | Measure the magnetic conduction encoder element | ??Bb2 | Measure the magnetic conduction encoder element |
| ??UL | Step pitch length is measured by unit |
Label declaration among Fig. 4 c
| Number in the figure | Label declaration | Number in the figure | Label declaration |
| ??Ba1 | Non-magnetic conduction encoder element | ??Ba2 | Non-magnetic conduction encoder element |
| ??Ba3 | Non-magnetic conduction encoder element | ??UL | Step pitch length is measured by unit |
Label declaration among Fig. 4 d
| Number in the figure | Label declaration | Number in the figure | Label declaration |
| ??Ba1 | Non-magnetic conduction encoder element | ??Ba2 | Non-magnetic conduction encoder element |
| ??UL | Step pitch length is measured by unit |
Label declaration among Fig. 4 e
| Number in the figure | Label declaration | Number in the figure | Label declaration |
| ??Ba1 | Non-magnetic conduction encoder element | ??Bb1 | Measure the magnetic conduction encoder element |
| ??Bc1 | Fault-tolerant magnetic conduction encoder element | ??Bb2 | Measure the magnetic conduction encoder element |
| ??CL | Unit is fault-tolerant apart from length | ??UL | Step pitch length is measured by unit |
Label declaration among Fig. 4 f
| Number in the figure | Label declaration | Number in the figure | Label declaration |
| ??Ba1 | Non-magnetic conduction encoder element | ??Bc1 | Fault-tolerant magnetic conduction encoder element |
| ??Bb1 | Measure the magnetic conduction encoder element | ??CL | Unit is fault-tolerant apart from length |
| ??UL | Step pitch length is measured by unit |
Label declaration among Fig. 4 g
| Number in the figure | Label declaration | Number in the figure | Label declaration |
| ??Bb1 | Measure the magnetic conduction encoder element | ??Bc1 | Fault-tolerant magnetic conduction encoder element |
| ??Ba1 | Non-magnetic conduction encoder element | ??Ba2 | Non-magnetic conduction encoder element |
| ??CL | Unit is fault-tolerant apart from length | ??UL | Step pitch length is measured by unit |
Label declaration among Fig. 4 h
| Number in the figure | Label declaration | Number in the figure | Label declaration |
| ??Bb1 | Measure the magnetic conduction encoder element | ??Bc1 | Fault-tolerant magnetic conduction encoder element |
| ??Ba1 | Non-magnetic conduction encoder element | ??CL | Unit is fault-tolerant apart from length |
| ??UL | Step pitch length is measured by unit |
Label declaration among Fig. 4 i
| Number in the figure | Label declaration | Number in the figure | Label declaration |
| ??Ba1 | Non-magnetic conduction encoder element | ??Bc1 | Fault-tolerant magnetic conduction encoder element |
| ??Bb1 | Measure the magnetic conduction encoder element | ??Bc2 | Fault-tolerant magnetic conduction encoder element |
| ??Ba2 | Non-magnetic conduction encoder element | ??CL | Unit is fault-tolerant apart from length |
| ??UL | Step pitch length is measured by unit |
Label declaration among Fig. 4 j
| Number in the figure | Label declaration | Number in the figure | Label declaration |
| ??Bb1 | Measure the magnetic conduction encoder element | ??Bc1 | Fault-tolerant magnetic conduction encoder element |
| ??Ba1 | Non-magnetic conduction encoder element | ??Bc2 | Fault-tolerant magnetic conduction encoder element |
| ??Bb2 | Measure the magnetic conduction encoder element | ??CL | Unit is fault-tolerant apart from length |
| ??UL | Step pitch length is measured by unit |
Label declaration among Fig. 5
| Number in the figure | Label declaration | Number in the figure | Label declaration |
| ??OLD_CODE | Coded system curve in the past | ??NEW_COD | The two-dimensional pseudo-random code curve |
Embodiment
The present invention is by adopting the measurement coded level ruler structure based on the two-dimensional pseudo-random code mode, introducing the position of measuring dimension coding and fault-tolerant dimension coding represents and coding method, than the traditional location metering system, have bigger application flexibility and fault-tolerance, and it is good, simple in structure to have extensibility, the characteristics that antijamming capability is strong.
The invention provides a kind of position-measurement device, comprising based on two-dimensional pseudo-random code:
Measure coded level ruler B, magnetic conduction encoder element by some non-magnetic conduction encoder element Ba and two kinds of different-diameter same materials, Bb and Bc, staggered coaxial connecting and composing, wherein directly less a kind of magnetic conduction encoder element is called measurement magnetic conduction encoder element Bb, its diameter is identical with described non-magnetic conduction encoder element Ba diameter, another kind of directly bigger magnetic conduction encoder element is called fault-tolerant magnetic conduction encoder element Bc, and its diameter is at least 1.5 times of described measurement magnetic conduction encoder element Bb diameter and less than described measuring head element internal channel diameter; Wherein said non-magnetic conduction encoder element Ba is total to the E section by the 1st to the E section altogether and constitutes, and uses Ba1, Ba2, ..., BaE represents that described measurement magnetic conduction encoder element Bb is total to the F section by the 1st to the F section altogether and constitutes, use Bb1, Bb2 ..., BbF represents, described fault-tolerant magnetic conduction encoder element Bc is total to the G section by the 1st to the G section altogether and constitutes, and uses Bc1, Bc2, ..., BcG represents; Described each non-magnetic conduction encoder element Ba and described total U of magnetic conduction encoder element, the U=E+F of respectively measuring; U, E, F and G value all are predefined;
Described measurement coded level ruler B has two ends, and wherein the end face of an end is a front end face, and the end face of the other end is a rear end face, and described front end face and rear end face are predefined;
Step pitch length UL measures in the described position-measurement device unit of preestablishing, and described unit measures step pitch length UL and is: carry out in the space of position measurement, need to differentiate the integral multiple of minimum length between each position;
The described position-measurement device unit of preestablishing is fault-tolerant apart from length CL, and described unit is fault-tolerant apart from length CL, is determined by the processing and the alignment error of described measuring head element and described measurement coded level ruler, relates to:
I) positivity bias and: in the described measurement coded level ruler, each non-magnetic conduction encoder element or measurement magnetic conduction encoder element, the absolute value sum of maximum forward machining deviation and maximum forward installation deviation, in described measuring head element, any two adjacent measurement secondary coils are along described measuring head element axial direction, distance between the midsection, the absolute value sum of maximum negative sense machining deviation and maximum negative sense installation deviation, these two value sums; Described each positivity bias is all represented the deviation of actual processing dimension greater than design size, and described each negative sense deviation is all represented the deviation of actual processing dimension less than design size;
II) the negative sense deviation and: in the described measurement coded level ruler, each non-magnetic conduction encoder element or measurement magnetic conduction encoder element, the absolute value sum of maximum negative sense machining deviation and maximum negative sense installation deviation, in described measuring head element, any two adjacent measurement secondary coils are along described measuring head element axial direction, distance between the midsection, the absolute value sum of maximum forward machining deviation and maximum forward installation deviation, these two value sums; Described each positivity bias is all represented the deviation of actual processing dimension greater than design size, and described each negative sense deviation is all represented the deviation of actual processing dimension less than design size;
III) loop length deviation: in the described measuring head element, each measures secondary coil, the absolute value sum of maximum machining deviation and maximum installation deviation;
Described each processing and installation deviation are all represented along the deviate of described measuring head element axial direction;
Described unit is fault-tolerant to be not less than apart from length CL, described positivity bias and with described negative sense deviation and in maximal value, with described loop length deviation, the two addition and half length, and step pitch length UL measures in the described unit that is not more than half;
Described measurement coded level ruler B is that step pitch length UL measures in U unit doubly along self axial direction total length; Front end face from described measurement coded level ruler B, on described measurement coded level ruler B, each is the part that step pitch length UL measures in unit along described measurement coded level ruler B axial direction length in turn, on the corresponding described measurement coded level ruler B, described non-magnetic conduction encoder element Ba or measurement magnetic conduction encoder element Bb; At a described non-magnetic conduction encoder element Ba and a described measurement magnetic conduction encoder element Bb, correspond respectively to described measurement coded level ruler B last two adjacent, the length unit of being measures in the structure of step pitch length UL part, between described non-magnetic conduction encoder element Ba and described measurement magnetic conduction encoder element Bb, be connected with a described fault-tolerant magnetic conduction encoder element Bc coaxially, be described fault-tolerant magnetic conduction encoder element Bc and described measurement coded level ruler B coaxial arrangement, two ends connect described non-magnetic conduction encoder element Ba and described measurement magnetic conduction encoder element Bb coaxially respectively; Described fault-tolerant magnetic conduction encoder element Bc is that 2 times unit is fault-tolerant apart from length CL along described measurement coded level ruler B axial direction length;
On the described measurement coded level ruler B, the length of described non-magnetic conduction encoder element Ba of each several part or measurement magnetic conduction encoder element Bb is incomplete same; The length of each described non-magnetic conduction encoder element Ba or measurement magnetic conduction encoder element Bb, can measure step pitch length UL for a described unit, step pitch length is measured by described unit, and to deduct a described unit fault-tolerant apart from length (UL-CL), and perhaps described unit measures step pitch length to deduct 2 described units fault-tolerant apart from one of this length of three types of length (UL-2CL); The length of concrete each described magnetic conduction encoder element Ba or measurement magnetic conduction encoder element Bb is determined by relative position between described encoder element and other the described encoder elements and annexation;
The structure of described non-magnetic conduction encoder element Ba or measurement magnetic conduction encoder element Bb different length, can guarantee: from the front end face of described measurement coded level ruler B, on described measurement coded level ruler B, each is the part that step pitch length UL measures in unit along described measurement coded level ruler B axial direction, the length of corresponding described non-magnetic conduction encoder element Ba or measurement magnetic conduction encoder element Bb, not with structure that any described fault-tolerant magnetic conduction encoder element Bc is connected in, be that step pitch length UL measures in a described unit; With structure that described fault-tolerant magnetic conduction encoder element Bc is connected in, the length on described non-magnetic conduction encoder element Ba or measurement magnetic conduction encoder element Bb edge, after half length sum addition of all described fault-tolerant magnetic conduction encoder element Bc that are connected, total length still is that step pitch length UL measures in a described unit; The length of described each encoder element is along described measurement coded level ruler B axial direction;
The described non-magnetic conduction encoder element Ba of on the described measurement coded level ruler B each, measurement magnetic conduction encoder element Bb and fault-tolerant magnetic conduction encoder element Bc, mutual alignment on described measurement coded level ruler B concerns and is connected order, according to predefined two-dimensional pseudo-random code sequence in corresponding each coded identification, first coded identification begins from sequence, and the same order of arranging is arranged from front to back;
Described two-dimensional pseudo-random code sequence, comprise: tie up coded sequence by the measurement that a series of binits " 0 " with pseudo-random distribution feature or " 1 " constitute, and other fault-tolerant dimension coded sequence by series of sign "+" or "-" formation, described fault-tolerant dimension coded sequence also has the pseudo-random distribution feature, and its pseudo-random distribution feature directly depends on the pseudo-random distribution feature of the binary symbol sequence in the described measurement dimension coded sequence;
Binit " 0 " in the described measurement dimension coded sequence is corresponding to each the described non-magnetic conduction encoder element Ba on the described measurement coded level ruler B; Binit " 1 " in the described measurement dimension coded sequence is corresponding to each the described measurement magnetic conduction encoder element Bb on the described measurement coded level ruler B; Symbol "+" in the described fault-tolerant dimension coded sequence is corresponding to each the described fault-tolerant magnetic conduction encoder element Bc on the described measurement coded level ruler B; Symbol "-" in the described fault-tolerant dimension coded sequence, on described measurement coded level ruler B, between the described encoder element of any two same types, the tie point of direct coaxial connection;
The structure of described measurement coded level ruler B has following feature: from described measurement coded level ruler B, any one described non-magnetic conduction encoder element Ba or measurement magnetic conduction encoder element Bb centroid position begin, axial along described measurement coded level ruler B, from front end face to the rear end face direction, step pitch length UL measures in every interval V unit doubly, the type of a described encoder element in corresponding position of record, write down the type of the corresponding described encoder element in S position continuously altogether, and constitute a corresponding codes combination of element types, then structural corresponding to described measurement coded level ruler B, in the corresponding encoder element type combination that might obtain, any two described encoder element type combination are all inequality;
Described measuring head element comprises: measure primary coil A2 for one, some uniformly-spaced arrangements and the measurement secondary coil A1 that arranges with the common magnetic axis of described measurement primary coil A2; Have the 1st to S S measurement secondary coil altogether, with corresponding respectively label A11, A12 ..., A1S represents; The described measurement secondary coil of any two adjacent layouts is distinguished correspondence in the described measuring head element, along the distance between two midsections of described measuring head element axial direction, is set at V unit doubly and measures step pitch length UL; The described length of respectively measuring secondary coil along described measuring head element axial direction, it is fault-tolerant apart from length CL to be 2 times of units; Described measurement primary coil A2 is along described measuring head element axial direction length, for step pitch length UL measures in S*V unit doubly; Whole described measurement secondary coils are arranged in described measurement primary coil A2 along between former and later two end faces of described measuring head element axial direction; Front end face on the described measurement primary coil A2 points to the direction of rear end face, promptly is equivalent to along described measuring head element axial direction, and the front end face on the described measuring head element points to the direction of rear end face; Described S and V value are predefined; Described secondary coil and the described measurement primary coil A2 of respectively measuring preestablishes according to the environment for use situation along the order of described measuring head element radial arrangement; The described secondary coil of respectively measuring can be arranged in the described measurement primary coil A2 outside, also described measurement primary coil A2 can be arranged in the described secondary coil outside of respectively measuring;
Described measurement coded level ruler B is along described measuring head element axial direction, to-and-fro movement in described measuring head element internal passage; On described measuring head element, along described measuring head element axial direction, point to the direction of rear end face from described measuring head element front end face, on described measurement coded level ruler B, along described measurement coded level ruler B axial direction, the direction of pointing to rear end face from the front end face of described measurement coded level ruler B is identical;
Respectively measure secondary coil in the described measuring head element, be used to read described measuring head element internal corresponding position, described measurement coded level ruler B goes up the type information of corresponding described encoder element; In measuring overall process, all S described measurement secondary coil inside all has the part of measuring on the coded level ruler B to exist all the time;
Described pumping signal generating unit H1, be in series successively by an excitation signal generator R1 and a pumping signal amplifier R2, two lead ends of described measurement primary coil A2 in two output terminals of described pumping signal amplifier R2 and the described measuring head element link to each other respectively, providing after the amplification, the ac-excited signal that uses for described measuring head element;
Described signal condition unit H2 is made of side by side p road signal conditioning circuit, and p=S, the described signal conditioning circuit in every road be by a differential signal amplifier Jx, x=1 ..., p and a low-pass filter Ky, y=1 ..., p is in series successively; Two input ends of the differential signal amplifier in the signal conditioning circuit of every road, respectively with corresponding described measurement secondary coil A1z, z=1 ..., S, two lead ends link to each other, p is predefined;
Described position information process unit H3, contain: Chuan Lian A/D converter M and industrial computer N successively, in any time of described measurement coded level ruler B in described measuring head element internal to-and-fro movement process, measure secondary coil for described S, produce respectively be in separately inner, described measurement coded level ruler B part, the relevant induced voltage signal of described encoder element type; Be total to S described induced voltage signal; Described each described induced voltage signal after the described differential signal amplifier of each correspondence of process and low-pass filter are changed, obtains each d. c. voltage signal with the proportional variation of each described induced voltage signal; Each described d. c. voltage signal inserts each the corresponding input end on the described A/D converter again, is converted to through described A/D converter: with each digital voltage signal of the corresponding proportional variation of each described induced voltage signal; Described each digital voltage signal is sent into described industrial computer N, described industrial computer N is through handling each the described digital voltage signal that obtains, obtain: between the baseline cross-section JZ2 that sets on reference point JZ1 that described measurement coded level ruler B go up to set and the described measuring head element apart from FL and orientation, promptly be equivalent to have determined the relative position relation between described reference point JZ1 and the described baseline cross-section JZ2; In the measurement, fixing described measuring head element is determined the position in the space, the position of the baseline cross-section JZ2 that sets on the then described measuring head element is determined, according to the described relative position relation that obtains, just determines that described measurement coded level ruler B goes up the position of the reference point JZ1 that sets;
Described industrial computer N once samples and obtains, and S described induced voltage signal altogether represented to be in S measurement secondary coil inside respectively, on the corresponding described measurement coded level ruler B, described encoder element type; Corresponding with described each the encoder element type that obtains, common S the symbol that uses in the described two-dimensional pseudo-random code sequence, form the code value of determining in order, described code value, and described reference point JZ1 between the described baseline cross-section JZ2 apart from FL and orientation, the corresponding relation of determining between the two is known; That is, obtain a described code value, determine corresponding described reference point JZ1 and the relative position relation between the described baseline cross-section JZ2 with regard to corresponding;
The required testee that carries out position measurement is connected on the described measurement coded level ruler B in advance, and is synchronized with the movement with described measurement coded level ruler B; The barycenter JZ0 of described testee, and the relative position relation between the reference point JZ1 on the described measurement coded level ruler B determine according to the actual measured results after connecting; In the measurement, under the known situation of the described reference point JZ1 of correspondence and the relative position relation between the described baseline cross-section JZ2, further determine the barycenter JZ0 of described testee and the relative position relation between the described baseline cross-section JZ2; According to the position that the baseline cross-section JZ2 on the described measuring head element determines in described space, near and determine the position that the barycenter JZ0 of described testee determines in described space, promptly be equivalent to determine the position of described testee;
Described measurement coded level ruler B goes up the reference point JZ1 that sets, and is the center of the described front end face on the described measurement coded level ruler B; The baseline cross-section JZ2 that sets on the described measuring head element, in described measuring head element, on nearest first described measurement secondary coil of front end face of the described measuring head element of distance, axial along described measuring head element, the central cross-section of length direction.
The present invention is described in further detail below in conjunction with accompanying drawing.
As shown in Figure 1, the invention provides a kind of position-measurement device, comprising based on two-dimensional pseudo-random code:
Magnetic conduction encoder element by several non-magnetic conduction encoder element Ba and two kinds of different-diameters replaces coaxial the connection, the measurement coded level ruler B of formation; In the magnetic conduction encoder element of described two kinds of different-diameters, the less a kind of magnetic conduction encoder element of diameter is called measures magnetic conduction encoder element Bb; The diameter of described measurement magnetic conduction encoder element Bb is identical with the diameter of described each non-magnetic conduction encoder element Ba; In the magnetic conduction encoder element of described two kinds of different-diameters, a kind of magnetic conduction encoder element that diameter is bigger is called fault-tolerant magnetic conduction encoder element Bc; The diameter of described fault-tolerant magnetic conduction encoder element Bc is not less than 1.5 times of diameter of described measurement magnetic conduction encoder element, and less than described measuring head element internal channel diameter; E altogether of non-magnetic conduction encoder element as described in being as Ba1, Ba2, Ba3, BaE shown in Fig. 1, described non-magnetic conduction encoder element; F altogether of measurement magnetic conduction encoder element as described in being as Bb1, Bb2, Bb3, Bb4, Bb (F-1) and BbF shown in Fig. 1, described measurement magnetic conduction encoder element; G altogether of fault-tolerant magnetic conduction encoder element as described in being as Bc1, Bc2, Bc3, Bc4, Bc (G-2), Bc (G-1) and BcG shown in Fig. 1, described fault-tolerant magnetic conduction encoder element; Described each non-magnetic conduction encoder element Ba and described total U of magnetic conduction encoder element, the U=E+F of respectively measuring; U, E, F and G value all are predefined;
The end face of described measurement coded level ruler B one end, measurement magnetic conduction encoder element Ba1 as shown in Figure 1 and the end face that testee WT is connected are redefined for front end face; The other end is set at rear end face.
Described measurement coded level ruler B is that step pitch length UL measures in U unit doubly along self axial direction total length;
Front end face from described measurement coded level ruler B, on described measurement coded level ruler B, each is the part that step pitch length UL measures in unit along described measurement coded level ruler B axial direction length in turn, on the corresponding described measurement coded level ruler B, described non-magnetic conduction encoder element Ba or measurement magnetic conduction encoder element Bb;
On described measurement coded level ruler B, adjacent two is the part that step pitch length UL measures in described unit, when being respectively non-magnetic conduction encoder element Ba and measuring magnetic conduction encoder element Bb, between described two encoder elements, connect a described fault-tolerant magnetic conduction encoder element coaxially; In Fig. 1, between described non-magnetic conduction encoder element Ba2 and the described measurement magnetic conduction encoder element Bb1, connect described fault-tolerant magnetic conduction encoder element Bc1 coaxially; Described fault-tolerant magnetic conduction encoder element Bc is that 2 times described unit is fault-tolerant apart from length CL along described measurement coded level ruler B axial direction length;
On the described measurement coded level ruler B, the length of described non-magnetic conduction encoder element Ba of each several part or measurement magnetic conduction encoder element Bb is incomplete same; The length of each described non-magnetic conduction encoder element Ba or measurement magnetic conduction encoder element Bb, can measure step pitch length UL for a described unit, step pitch length is measured by described unit, and to deduct a described unit fault-tolerant apart from length (UL-CL), and perhaps described unit measures step pitch length to deduct 2 described units fault-tolerant apart from one of this length of three types of length (UL-2CL); The length of concrete each described magnetic conduction encoder element Ba or measurement magnetic conduction encoder element Bb is determined by relative position between described encoder element and other the described encoder elements and annexation;
On described non-magnetic conduction encoder element Ba or measurement magnetic conduction encoder element Bb two ends, direct coaxial connection is the structure division of the described encoder element of two other same type respectively, structure shown in Fig. 4 a and Fig. 4 c, the length of described non-magnetic conduction encoder element Ba or measurement magnetic conduction encoder element Bb is that step pitch length UL measures in a described unit;
On described non-magnetic conduction encoder element Ba or measurement magnetic conduction encoder element Bb two ends, the described encoder element of direct another same type of coaxial connection of one end, the other end does not connect the structure division of other described encoder element, structure shown in Fig. 4 b and Fig. 4 d, the length of described non-magnetic conduction encoder element Ba or measurement magnetic conduction encoder element Bb is that step pitch length UL measures in a described unit;
On described non-magnetic conduction encoder element Ba or measurement magnetic conduction encoder element Bb two ends, the described encoder element of direct another same type of coaxial connection of one end, and the structure division of a described fault-tolerant magnetic conduction encoder element Bc of the direct coaxial connection of the other end, structure shown in Fig. 4 e and Fig. 4 g, the length of described non-magnetic conduction encoder element Ba or measurement magnetic conduction encoder element Bb is (UL-CL), promptly is equivalent to a described measurement step pitch length UL of unit and deducts the fault-tolerant length that obtains apart from length CL of described unit;
On described non-magnetic conduction encoder element Ba or measurement magnetic conduction encoder element Bb two ends, described fault-tolerant magnetic conduction encoder element Bc of the direct coaxial connection of one end, and the other end does not connect the structure division of other described encoder element, structure shown in Fig. 4 f and Fig. 4 h, the length of described non-magnetic conduction encoder element Ba or measurement magnetic conduction encoder element Bb is (UL-CL), promptly is equivalent to a described measurement step pitch length UL of unit and deducts the fault-tolerant length that obtains apart from length CL of described unit;
On the two ends of described non-magnetic conduction encoder element Ba or measurement magnetic conduction encoder element Bb, direct coaxial connection is the structure division of two other described fault-tolerant magnetic conduction encoder element Bc respectively, structure shown in Fig. 4 i and Fig. 4 j, the length of described non-magnetic conduction encoder element Ba or measurement magnetic conduction encoder element Bb is (UL-2CL), promptly is equivalent to a described measurement step pitch length UL of unit and deducts 2 times of fault-tolerant length that obtain apart from length CL of described unit;
The structure of described non-magnetic conduction encoder element Ba or measurement magnetic conduction encoder element Bb different length, can guarantee: from the front end face of described measurement coded level ruler B, on described measurement coded level ruler B, each is the part that step pitch length UL measures in unit along described measurement coded level ruler B axial direction, the length of corresponding described non-magnetic conduction encoder element Ba or measurement magnetic conduction encoder element Bb, not with structure that any described fault-tolerant magnetic conduction encoder element Bc is connected in, be that step pitch length UL measures in a described unit; With structure that described fault-tolerant magnetic conduction encoder element Bc is connected in, the length of described non-magnetic conduction encoder element Ba or measurement magnetic conduction encoder element Bb, after half length sum addition of all described fault-tolerant magnetic conduction encoder element Bc that are connected, total length still is that step pitch length UL measures in a described unit; The length of described each encoder element is along described measurement coded level ruler B axial direction; In Fig. 1, on the described measurement coded level ruler B, from described front end face, the 3rd length is the part of UL, corresponding to described measurement magnetic conduction encoder element Bb1; Described measurement magnetic conduction encoder element Bb1 two ends are connected with Bc2 is coaxial with described fault-tolerant magnetic conduction encoder element Bc1 respectively; The length of Bb1 then, with half of Bc1 and Bc2 total length, length after the addition still is that step pitch length UL measures in a described unit, promptly be equivalent to Bc1 central cross-section along its length, with Bc2 central cross-section along its length, between distance be that step pitch length UL measures in a described unit, the direction of described length all is that expression is along the axial direction of described measurement coded level ruler B;
The described non-magnetic conduction encoder element Ba of on the described measurement coded level ruler B each, measurement magnetic conduction encoder element Bb and fault-tolerant magnetic conduction encoder element Bc, mutual alignment on described measurement coded level ruler B concerns and is connected order, according to predefined two-dimensional pseudo-random code sequence in corresponding each coded identification, first coded identification begins from sequence, and the same order of arranging is arranged from front to back;
The structure of described measurement coded level ruler B has following feature: from described measurement coded level ruler B, any one described non-magnetic conduction encoder element Ba or measurement magnetic conduction encoder element Bb centroid position begin, axial along described measurement coded level ruler B, from front end face to the rear end face direction, step pitch length UL measures in every interval V unit doubly, the type of a described encoder element in corresponding position of record, write down the type of the corresponding described encoder element in S position continuously altogether, and constitute a corresponding codes combination of element types, then structural corresponding to described measurement coded level ruler B, in the corresponding encoder element type combination that might obtain, any two described encoder element type combination are all inequality;
The measuring head element comprises: measure primary coil A2 for one, some uniformly-spaced arrangements and the measurement secondary coil A1 that arranges with the common magnetic axis of described measurement primary coil A2; Have the 1st to S S measurement secondary coil altogether, with corresponding respectively label A11, A12 ..., A1S represents; The described measurement secondary coil of any two adjacent layouts is distinguished correspondence in the described measuring head element, along the distance between two midsections of described measuring head element axial direction, is set at V unit doubly and measures step pitch length UL; The described length of respectively measuring secondary coil along described measuring head element axial direction, it is fault-tolerant apart from length CL to be 2 times of units; Described measurement primary coil A2 is along described measuring head element axial direction length, for step pitch length UL measures in S*V unit doubly; Whole described measurement secondary coils are arranged in described measurement primary coil A2 along between former and later two end faces of described measuring head element axial direction; Front end face on the described measurement primary coil A2 points to the direction of rear end face, promptly is equivalent to along described measuring head element axial direction, and the front end face on the described measuring head element points to the direction of rear end face; Described S and V value are predefined; Described secondary coil and the described measurement primary coil A2 of respectively measuring preestablishes according to the environment for use situation along the order of described measuring head element radial arrangement; The described secondary coil of respectively measuring can be arranged in the described measurement primary coil A2 outside, also described measurement primary coil A2 can be arranged in the described secondary coil outside of respectively measuring;
Described measurement coded level ruler B is along described measuring head element axial direction, to-and-fro movement in described measuring head element internal passage; On described measuring head element, along described measuring head element axial direction, point to the direction of rear end face from described measuring head element front end face, on described measurement coded level ruler B, along described measurement coded level ruler B axial direction, the direction of pointing to rear end face from the front end face of described measurement coded level ruler B is identical;
Respectively measure secondary coil in the described measuring head element, be used to read described measuring head element internal corresponding position, described measurement coded level ruler B goes up the type information of corresponding described encoder element; In measuring overall process, all S described measurement secondary coil inside all has the part of measuring on the coded level ruler B to exist all the time;
Described pumping signal generating unit H1, be in series successively by an excitation signal generator R1 and a pumping signal amplifier R2, two lead ends of described measurement primary coil A2 in two output terminals of described pumping signal amplifier R2 and the described measuring head element link to each other respectively, providing after the amplification, the ac-excited signal that uses for described measuring head element;
Described signal condition unit H2 is made of side by side p road signal conditioning circuit, and p=S, the described signal conditioning circuit in every road be by a differential signal amplifier Jx, x=1 ..., p and a low-pass filter Ky, y=1 ..., p is in series successively; Two input ends of the differential signal amplifier in the signal conditioning circuit of every road, respectively with corresponding described measurement secondary coil A1z, z=1 ..., S, two lead ends link to each other, p is predefined;
Described position information process unit H3, contain: Chuan Lian A/D converter M and industrial computer N successively, in any time of described measurement coded level ruler B in described measuring head element internal to-and-fro movement process, measure secondary coil for described S, produce respectively be in separately inner, described measurement coded level ruler B part, the relevant induced voltage signal of described encoder element type; Be total to S described induced voltage signal; Described each described induced voltage signal after the described differential signal amplifier of each correspondence of process and low-pass filter are changed, obtains each d. c. voltage signal with the proportional variation of each described induced voltage signal; Each described d. c. voltage signal inserts each the corresponding input end on the described A/D converter again, is converted to through described A/D converter: with each digital voltage signal of the corresponding proportional variation of each described induced voltage signal; Described each digital voltage signal is sent into described industrial computer N, described industrial computer N is through handling each the described digital voltage signal that obtains, obtain: between the baseline cross-section JZ2 that sets on reference point JZ1 that described measurement coded level ruler B go up to set and the described measuring head element apart from FL and orientation, promptly be equivalent to have determined the relative position relation between described reference point JZ1 and the described baseline cross-section JZ2; In the measurement, fixing described measuring head element is determined the position in the space, the position of the baseline cross-section JZ2 that sets on the then described measuring head element is determined, according to the described relative position relation that obtains, has just determined that described measurement coded level ruler B goes up position and the output of the reference point JZ1 that sets.
Fig. 2 and Fig. 3 shown respectively, based on a specific embodiment of the position-measurement device of two-dimensional pseudo-random code, the structural representation under the diverse location situation of described measurement coded level ruler.In this embodiment, the described position-measurement device based on described two-dimensional pseudo-random code method design comprises:
Measure coded level ruler B by, the 1st to the 6th totally 6 described non-magnetic conduction encoder elements for one, the 1st to the 4th totally 4 described measurement magnetic conduction encoder elements, and the 1st to the 3rd totally 3 described fault-tolerant magnetic conduction encoder elements, the common composition; Described fault-tolerant magnetic conduction encoder element diameter is not less than 1.5 times of diameter of described measurement magnetic conduction encoder element, and less than described measuring head element internal channel diameter; Described non-magnetic conduction encoder element and measurement magnetic conduction encoder element, totally 10;
Length for described non-magnetic conduction encoder element and measurement magnetic conduction encoder element, connect in the same type encoder element structure at two ends, the length of non-as described magnetic conduction encoder element Ba1, Ba2 and Ba5, with the length of described measurement magnetic conduction encoder element Bb2, be a unit and measure step pitch length UL; At one end connect in the described fault-tolerant magnetic conduction encoder element structure, the length of the length of non-as described magnetic conduction encoder element Ba3, Ba4 and Ba6 and described measurement magnetic conduction encoder element Bb1, Bb3 and Bb4 is (UL-CL); All connect in the described fault-tolerant magnetic conduction encoder element structure at two ends, be (UL-2CL), among Fig. 2 and Fig. 3, do not show that two ends all connect the situation of described fault-tolerant magnetic conduction encoder element; The length of described each fault-tolerant magnetic conduction encoder element, the length of fault-tolerant as described magnetic conduction encoder element Bc1, Bc2 and Bc3, the unit that is 2 times is fault-tolerant apart from length CL; The above length is all represented along described measurement coded level ruler B axial direction length;
Described measurement step pitch length UL of unit and unit are fault-tolerant to be predefined apart from length CL;
The described non-magnetic conduction encoder element Ba of on the described measurement coded level ruler B each, measurement magnetic conduction encoder element Bb and fault-tolerant magnetic conduction encoder element Bc, mutual alignment on described measurement coded level ruler B concerns and is connected order, according to predefined two-dimensional pseudo-random code sequence in corresponding each coded identification, first coded identification begins from sequence, and the same order of arranging is arranged from front to back; Described magnetic conduction encoder element and fault-tolerant magnetic conduction encoder element adopt the soft iron manufacturing with permeance, and described non-magnetic conduction encoder element adopts non-magnetic austenitic stainless steel manufacturing;
A measuring head element comprises: measure primary coil A2 for one, the 1st to the 3rd totally 3, uniformly-spaced and with described measurement primary coil altogether magnetic axis arrange, measure secondary coil A11～A13; The described length of respectively measuring secondary coil A11～A13, the unit that is 2 times is fault-tolerant apart from length CL; Be the described secondary coil A11～A13 length of respectively measuring, be equal to the length of a described fault-tolerant magnetic conduction encoder element, described all measurement secondary coil A11～A13 are arranged between the both ends of the surface of described measurement primary coil A2; The above length is all represented along described measuring head element axial direction length;
Described measurement coded level ruler B, along described measuring head element axial direction, to-and-fro movement in described measuring head element internal passage; Any time in motion process, by in the described measuring head element, the induced voltage signal that each described measurement secondary coil A11～A13 produces has been represented corresponding each described measurement secondary coil A11～A13 inside, the type information of described encoder element; In measuring overall process, whole 3 described measurement secondary coil inside all have the encoder element of measuring on the coded level ruler B partly to exist all the time;
A pumping signal generating unit H1, comprise: an excitation signal generator R1, with a pumping signal amplifier R2 who is connected in sequential series, described excitation signal generator R1 produces the ac-excited signal of fixed frequency, the output terminal of described excitation signal generator R1 directly links to each other with the input end of described pumping signal amplifier R2, the output terminal of described pumping signal amplifier R2 directly is connected with two lead ends measuring primary coil A2 described in the described measuring head element, described excitation signal generator R1 adopts the DIO port of PCI-MIO-16XE-10 type multifunctional signal collection/output board to produce the AC signal of fixed frequency, and described pumping signal amplifier R2 adopts the complementary symmetrical power amplification circuit of the OTL that is made up of 9013 types and 9012 transistor npn npns;
A signal condition unit H2 comprises: the the 1 the road to the 3 the tunnel totally 3 the tunnel, and signal conditioning circuit arranged side by side; Each described signal conditioning circuit comprises: the differential signal amplifier of a correspondence, two input ends of each described differential signal amplifier, independent respectively corresponding two lead ends that connect a described measurement secondary coil; A low-pass filter of connecting successively with described differential signal amplifier, the input end of described low-pass filter, the independent corresponding output terminal that connects corresponding described differential signal amplifier, described differential signal amplifier J1～J3, the amplifying circuit that adopts AD9460 to constitute, described low-pass filter K1～K3 adopts the nd-order Chebyshev low-pass filter;
A position information process unit H3, comprise: an A/D converter M and an industrial computer N, each input end of wherein said A/D converter M, the output terminal that connects 3 described low-pass filter K1～K3 respectively, read described 3 low-pass filter K1～K3 output, respectively measure induced voltage signal that secondary coil A11～A13 produces and be in proportion and change each d. c. voltage signal with described; Described each d. c. voltage signal that described A/D converter M will obtain is converted to each corresponding digital voltage signal, and is sent to described industrial computer N; Described industrial computer N after described each digital voltage signal that receives handled, obtains the positional information of set point on the corresponding described measurement coded level ruler.The object of required measuring position directly is connected on the described measurement coded level ruler, then can pass through to determine the position of set point on the described measurement coded level ruler, and then the corresponding positional information of definite testee.Described industrial computer can further be exported the positional information of acquisition.Described A/D converter M adopts the analog acquisition passage of PIO-MIO-16XE-10 type multifunctional signal collection/output board to constitute, and described industrial computer N adopts the SIEMENS industrial computer.
In the foregoing description only is illustrative for example, and nonrestrictive, in actual use according to concrete testing requirements, the number of each described measurement secondary coil can be adjusted; Spacing distance between each described measurement secondary coil also can be regulated; Among the described measurement coded level ruler B, the number of different described encoder elements, and annexation each other all can be adjusted according to measuring needs; The structured material of each non-magnetic conduction encoder element and two kinds of magnetic conduction encoder elements, also can change the other materials that to realize similar measurement function into, described signal condition unit H2 and position information process unit H3 also can adopt other forms that can realize similar functions or parts formation of structure etc. respectively.
The principle of work of the position-measurement device based on two-dimensional pseudo-random code of the present invention is as follows:
Based on the position-measurement device of two-dimensional pseudo-random code, adopt structure based on the two-dimensional pseudo-random code sequence, realize station location marker and measurement.
Described two-dimensional pseudo-random code sequence, comprise: tie up coded sequence by the measurement that a series of binits " 0 " with pseudo-random distribution feature or " 1 " constitute, and other fault-tolerant dimension coded sequence by series of sign "+" or "-" formation, described fault-tolerant dimension coded sequence also has the pseudo-random distribution feature, and its pseudo-random distribution feature directly depends on the pseudo-random distribution feature of the binary symbol sequence in the described measurement dimension coded sequence;
According to predefined two-dimensional pseudo-random code sequence, can determine described position-measurement device structure, comprising: measure coded level ruler for one, a measuring head element, a pumping signal generating unit, a signal condition unit and a position information process unit, wherein:
Measure coded level ruler B, by some non-magnetic conduction encoder element Ba, measurement magnetic conduction encoder element Bb and fault-tolerant magnetic conduction encoder element Bc, staggered coaxial connecting and composing,
Binit " 0 " in the described measurement dimension coded sequence is corresponding to each the described non-magnetic conduction encoder element Ba on the described measurement coded level ruler B; Binit " 1 " in the described measurement dimension coded sequence is corresponding to each the described measurement magnetic conduction encoder element Bb on the described measurement coded level ruler B; Symbol "+" in the described fault-tolerant dimension coded sequence is corresponding to each the described fault-tolerant magnetic conduction encoder element Bc on the described measurement coded level ruler B; Symbol "-" in the described fault-tolerant dimension coded sequence, on described measurement coded level ruler B, between the described encoder element of any two same types, the tie point of direct coaxial connection;
Described non-magnetic conduction encoder element Ba of on the described measurement coded level ruler B each and measurement magnetic conduction encoder element Bb ordering, in predefined two-dimensional pseudo-random code sequence, measure each corresponding symbol on the dimension coded sequence, first coded identification begins from sequence, and the same order of arranging is arranged from front to back; The ordering of described fault-tolerant magnetic conduction encoder element Bc and same type encoder element tie point, in predefined two-dimensional pseudo-random code sequence, each corresponding symbol on the fault-tolerant dimension coded sequence, first coded identification begins from sequence, and the same order of arranging is arranged from front to back;
In the embodiment of Fig. 2 and Fig. 3, corresponding predefined two-dimensional pseudo-random code sequence, as shown in table 1.
Table 1
| Measure the dimension coded sequence: | ????0001110001 |
| Fault-tolerant dimension coded sequence: | ????--+--+--+ |
Among Fig. 2 and the embodiment shown in Figure 3, front end face from the described measurement coded level ruler B, corresponding with each symbol " 0 " or " 1 " in the measurement dimension coded sequence, the Rankine-Hugoniot relations of each described non-magnetic conduction encoder element Ba and measurement magnetic conduction encoder element Bb, and it is corresponding with fault-tolerant dimension coded sequence "+" or "-", the Rankine-Hugoniot relations of each described fault-tolerant magnetic conduction encoder element Bc and same type encoder element tie point, as shown in table 2.
Among Fig. 2 and the embodiment shown in Figure 3, described measuring head element comprises: measure primary coil A2 and the 1st to the 3rd totally 3, measure secondary coil A11～A13 for one; Any two adjacent measurement secondary coils, the distance between the central cross-section is 2 times the measurement step pitch length UL of unit along its length; The length of measuring primary coil is that step pitch length UL measures in 6 times of units, and each measures secondary coil length is that 2 times of units are fault-tolerant apart from length CL; Described whole measurement secondary coil is arranged between two end faces of described measurement primary coil;
Table 2
Described measurement coded level ruler B is at described measuring head element internal, along the to-and-fro movement of described measuring head element axis direction; In measuring overall process, all S described measurement secondary coil inside all has all the time and measures on the coded level ruler B, and described each encoder element partly exists; In the embodiment of Fig. 2 and Fig. 3, S=3;
In the embodiment of Fig. 2 and Fig. 3, preestablish, the reference point JZ1 on the described measurement coded level ruler B is: the joint face of described non-magnetic conduction encoder element Ba1 and testee WT promptly is equivalent to the central point of the front end face of described measurement coded level ruler B; Preestablish, the baseline cross-section JZ2 that sets on the described measuring head element is: described measurement secondary coil A11's, along described measuring head element axial direction, the central cross-section of length; Testee WT is connected on the described measurement coded level ruler B in advance, and is synchronized with the movement with described measurement coded level ruler B in measuring process; In this embodiment, testee WT and described measurement coded level ruler B, in the described measurement coded level ruler B coaxial connection in front end face place, the barycenter JZ0 of described testee, with the reference point JZ1 on the described measurement coded level ruler B, along measuring coded level ruler B axial direction, promptly be equivalent to along the axial direction of described measuring head element, length is for measuring the value WL that obtains in advance;
Measurement primary coil in the described measuring head element under the ac-excited signal effect that described pumping signal generating unit H1 provides, produces alternating electromagnetic field in described measuring head element; When described measurement secondary coil inside, when having dissimilar encoder elements, described measurement secondary coil produces different induced voltage signals; Described induced voltage signal is handled through the described signal conditioning circuit among the described signal condition unit H2, is converted to: with the d. c. voltage signal of the proportional variation of described induced voltage signal; Described d. c. voltage signal, the A/D converter M by among the described position information process unit H3 further is converted to: with the digital voltage signal of the proportional variation of described induced voltage signal, and be sent to described industrial computer N; Described industrial computer N uses built-in code value and location conversion module, according to following steps, realizes the measured position measuring operation:
Step (1): described industrial computer N initialization:
Setting switch transition zone bit initial value is " 0 "; The switch transition zone bit is " 1 " expression: current described measuring head element reads, each described measurement secondary coil inside, on the described measurement coded level ruler B, described encoder element type can not be used for the code value conversion operations; The switch transition zone bit is " 0 " expression: current described measuring head element reads, each described measurement secondary coil inside, on the described measurement coded level ruler B, described encoder element type allows to be used to carry out the code value conversion operations;
Set the initial sampling instant t0 of described industrial computer N, and set the sampling time interval dt of circulating sampling when waiting;
Set described industrial computer N in each sampling instant, the sampled point number that reads simultaneously, described sampled point number quantitatively equal total numerical value S of described measurement secondary coil; In the embodiment of Fig. 2 and Fig. 3, S=3;
Read in described code value and the location conversion module that step pitch length UL measures in predefined described unit and unit is fault-tolerant apart from length CL;
Set in the described measuring head element, the described measurement secondary coil of any two adjacent layouts, along the distance between the axial midsection of described measuring head element, measure step pitch length UL for the doubly described unit of V separately, the V value is predefined in described code value and location conversion module; In the embodiment of Fig. 2 and Fig. 3, V=2;
Read predefined in described code value and the location conversion module " measure the dimension coding and read code value and position of rule mapping table " and " measurement dimension coding reads code value and reads the corresponding syntagmatic table of code value with fault-tolerant dimension coding "; In the embodiment of Fig. 2 and Fig. 3, " measure the dimension coding and read code value and position of rule mapping table " of described setting is as shown in table 3, and " measurement dimension coding reads code value and reads the corresponding syntagmatic table of code value with fault-tolerant dimension coding " of described setting is as shown in table 4.
Table 3
| Relative position between reference point JZ1 and the baseline cross-section JZ2 and apart from FL | Measure the dimension coding and read code value |
| ??+5*UL | ????101 |
| Relative position between reference point JZ1 and the baseline cross-section JZ2 and apart from FL | Measure the dimension coding and read code value |
| ??+4*UL | ????100 |
| ??+3*UL | ????110 |
| ??+2*UL | ????010 |
| ??+1*UL | ????011 |
| ??+0*UL | ????001 |
By shown in the table 4, can obtain: in " measurement dimension coding reads code value and reads the corresponding syntagmatic table of code value with fault-tolerant dimension coding " of described setting, each described fault-tolerant dimension coding reads code value, and two described measurements dimension codings of correspondence read code value; Therefore, determined that described fault-tolerant dimension coding reads code value, and the described measurement dimension coding of two correspondences reads code value, in these three code values combinations any two, described code value that just can unique definite another correspondence;
Setting is by measuring in advance, between the reference point JZ1 on the barycenter JZ0 of described testee and the described measurement coded level ruler B distance W L and the position in described space, determined of baseline cross-section JZ2 on orientation and the described measuring head element;
Table 4
Reading pre-stored is in described code value and the location conversion module, corresponding to current pumping signal level and mounting condition, described measurement secondary coil inside, on the described measurement coded level ruler B, different described encoder element type parts are pairing, described industrial computer N should read, each standard digital voltage signal values:
1) V0: when certain described measurement secondary coil inside, when the described measurement coded level ruler part between following thereon two end faces only has described non-magnetic conduction encoder element to exist, the corresponding standard digital voltage signal values that industrial computer should read;
2) V1: when certain described measurement secondary coil inside, when the described measurement coded level ruler part between following thereon two end faces only has described measurement magnetic conduction encoder element to exist, the corresponding standard digital voltage signal values that industrial computer should read;
3) V2: when certain described measurement secondary coil inside, when the described measurement coded level ruler part between following thereon two end faces only has described fault-tolerant magnetic conduction encoder element to exist, the corresponding standard digital voltage signal values that industrial computer should read;
Set the limit deviation ratio dV% of each described digital voltage signal and corresponding described standard digital voltage signal values, described limit deviation ratio dV% represents with the percentages form, and described dV% is not more than 50%;
Step (2): the described initial sampling instant t0 of described industrial computer N from setting, every interval sampling time interval dt once samples, and constantly repeats above-mentioned sampling process, circulating sampling process when realizing waiting; In any described sampling instant, described industrial computer N once reads whole S described digital voltage signals, and compares with each standard digital voltage signal values of described setting:
If: certain described digital voltage signal is less than (V0+V1)/2, and with the absolute value of the difference of (V0+V1)/2 greater than described limit deviation ratio dV% (V0+V1) value doubly, then assert: under current sampling instant, in the described measurement secondary coil inside of this described digital voltage signal correspondence, corresponding what exist is described non-magnetic conduction encoder element on the described measurement coded level ruler; Simultaneously, with the corresponding symbol " 0 " that uses in the described two-dimensional pseudo-random code, represent under the current sampling instant described measurement secondary coil inside, described encoder element type;
If: certain described digital voltage signal is greater than (V0+V1)/2, and with the absolute value of the difference of (V0+V1)/2 greater than described limit deviation ratio dV% (V0+V1) value doubly, this digital voltage signal is not more than (1+dV%) V1 value doubly simultaneously, then assert: under current sampling instant, in the described measurement secondary coil inside of this described digital voltage signal correspondence, corresponding what exist is described measurement magnetic conduction encoder element on the described measurement coded level ruler; Simultaneously, with the corresponding symbol " 1 " that uses in the described two-dimensional pseudo-random code, represent under the current sampling instant described measurement secondary coil inside, corresponding described encoder element type;
If: certain described digital voltage signal is greater than (1+dV%) V1 value doubly, then assert: under current sampling instant, in the described measurement secondary coil inside of this described digital voltage signal correspondence, corresponding what exist is described fault-tolerant magnetic conduction encoder element on the described measurement coded level ruler; Simultaneously, with the corresponding symbol "+" that uses in the described two-dimensional pseudo-random code, represent under the current sampling instant described measurement secondary coil inside, corresponding described encoder element type;
Step (3): with what obtain in the step (2), under the current sampling instant, the inner described encoder element type correspondence of all described measurement secondary coils, be total to the symbol that uses in S the described two-dimensional pseudo-random code, be combined as the symbol sebolic addressing that reads of a correspondence, and be used for code value and position conversion:
If: current sampling instant obtains, described reading in the symbol sebolic addressing, only there are described symbol " 0 " or " 1 ", then with the described symbol sebolic addressing that reads, measurement dimension coding as current sampling instant reads code value, search predefined in the described modular converter " measure the dimension coding and read code value and position of rule mapping table ", obtain described measurement dimension coding and read the code value correspondence, between the baseline cross-section JZ2 that sets on the reference point JZ1 that described measurement coded level ruler B go up to set and the described measuring head element apart from FL and orientation, and encode by the described measurement dimension that described industrial computer N writes down current sampling instant and to read code value; Simultaneously, read with described that each symbol correspondence replaces with described symbol "-" in the symbol sebolic addressing, constitute one with described to read the symbol sebolic addressing symbol numbers identical, whole new symbol sebolic addressings of forming by described symbol "-", described new symbol sebolic addressing reads code value as the fault-tolerant dimension coding of current sampling instant, and, write down the described fault-tolerant dimension coding that reads symbol sebolic addressing and current sampling instant and read code value by described industrial computer N; Simultaneously, the switch transition zone bit is set and is " 0 ";
If: the described symbol sebolic addressing that reads that current sampling instant obtains, compare with the described symbol sebolic addressing that reads that last sampling instant obtains, described the reading in the symbol sebolic addressing that obtains in last sampling instant, the position that described symbol "+" do not occur, described symbol "+" has newly appearred, and described the reading in the symbol sebolic addressing that last sampling instant obtains, the position that described symbol "+" occurred, still there is described symbol "+", then the described measurement dimension coding with last sampling instant reads code value, described measurement dimension coding as current sampling instant reads code value, obtains the positional information identical with last sampling instant; Simultaneously, "+" expression is still used in the described position that occurs described symbol "+" in the symbol sebolic addressing of reading, the symbol correspondence of other each positions replaces with described symbol "-", constitute one with described to read the symbol sebolic addressing symbol numbers identical, the new symbol sebolic addressing of forming by described symbol "-" and "+", described new symbol sebolic addressing reads code value as the fault-tolerant dimension coding of current sampling instant, and, write down the described fault-tolerant dimension coding that reads symbol sebolic addressing and current sampling instant and read code value by described industrial computer N; Simultaneously, the switch transition zone bit is set and is " 1 ";
If: the described symbol sebolic addressing that reads that current sampling instant obtains, compare with the described symbol sebolic addressing that reads that last sampling instant obtains, described the reading in the symbol sebolic addressing that obtains in last sampling instant, the position that described symbol "+" occurs, described symbol " 0 " or " 1 " have newly appearred, and described the reading in the symbol sebolic addressing that last sampling instant obtains, the position that described symbol "+" do not occur, still there is not described symbol "+" to exist, then, carry out to judge according to described switch transition zone bit state:
If: the described switch transition zone bit of last sampling instant record is " 1 ", then read last sampling instant record, described measurement dimension coding reads code value and fault-tolerant dimension coding reads code value, and according to described code value and location conversion module predefined " measurement dimension coding reads code value and reads the corresponding syntagmatic table of code value with fault-tolerant dimension coding ", find in the described table, described last sampling instant record is measured the dimension coding and is read the combination correspondence that code value and fault-tolerant dimension coding read code value, and another described measurement dimension coding reads code value; And described another that will find measured, and tieing up encodes reads code value, measurement dimension coding as current sampling instant reads code value, and according to described modular converter predefined " measure the dimension coding and read code value and position of rule mapping table ", obtain described measurement dimension coding and read the code value correspondence, described measurement coded level ruler B go up between the baseline cross-section JZ2 that sets on the reference point JZ1 that sets and the described measuring head element apart from FL and orientation; Simultaneously, the fault-tolerant dimension coding of last sampling instant record is read code value, fault-tolerant dimension coding as current sampling instant reads code value, and by the measurement dimension coding that described industrial computer N writes down described current sampling instant read code value, fault-tolerant dimension coding reads code value and reads symbol sebolic addressing; Simultaneously, the switch transition zone bit is set and is " 0 ";
If: the described switch transition zone bit of last sampling instant record is " 0 ", then described industrial computer N, the described measurement dimension coding that reads last sampling instant record reads code value and fault-tolerant dimension coding reads code value, read code value and fault-tolerant dimension coding reads code value as the measurement of current sampling instant dimension coding, obtain the positional information identical with last sampling instant; Simultaneously, the switch transition zone bit is set and is " 0 ";
Under the embodiment situation shown in Figure 2, the described symbol sebolic addressing that reads that obtains is for " 110 ", and the measurement dimension coding that correspondence obtains reads code value and is " 110 ", and the fault-tolerant dimension coding that correspondence obtains reads code value and is "---"; Look-up table 3 obtains correspondingly, and described measurement coded level ruler B goes up reference point JZ1, with the baseline cross-section JZ2 on the described measuring head element, between relative position and apart from FL be+3*UL; Then assert: under the embodiment situation shown in Figure 2, described measurement coded level ruler B goes up reference point JZ1, and in the front end face outside of described measuring head element, the baseline cross-section JZ2 of the described measuring head element of distance apart from FL is+position of 3*UL;
Under the embodiment situation shown in Figure 3, the described symbol sebolic addressing that reads that obtains is for "+10 ": if Fig. 3 is for after the corresponding sampling instant of situation shown in Figure 2, situation under sampling instant, then obtain corresponding measurement dimension coding and read code value and be " 110 ", the fault-tolerant dimension coding that correspondence obtains reads code value and is "+--"; Look-up table 4, obtain corresponding to, described measurement dimension coding reads code value and reads in the combination of code value with fault-tolerant dimension coding, another measures the dimension coding, and to read code value be " 010 "; Look-up table 3 obtains, and described another measured the dimension coding and read the code value correspondence, and described measurement coded level ruler B goes up reference point JZ1, with the baseline cross-section JZ2 on the described measuring head element, between relative position and apart from FL be+2*UL; Then assert: under the embodiment situation shown in Figure 3, described measurement coded level ruler B goes up reference point JZ1, and in the front end face outside of described measuring head element, the baseline cross-section JZ2 of the described measuring head element of distance apart from FL is+position of 2*UL; The front end face outside of described measuring head element refers in the front end face both sides, away from a side of described measuring head element barycenter; "+" expression in the described distance is in the front end face lateral direction of described measuring head element;
Obtain under other situations, the described symbol sebolic addressing that reads can be by similar method, is converted to accordingly, and described measurement coded level ruler B goes up reference point JZ1, with the baseline cross-section JZ2 on the described measuring head element, between relative position information;
Step (4): described industrial computer N, according to what obtain, between the baseline cross-section JZ2 that sets on reference point JZ1 that described measurement coded level ruler B go up to set and the described measuring head element apart from FL and orientation, and it is predefined, between the reference point JZ1 on the barycenter JZ0 of described testee and the described measurement coded level ruler B distance W L and orientation, predefined in addition, the position that baseline cross-section JZ2 on the described measuring head element determines in described space can obtain and export the positional information that the barycenter JZ0 of described testee determines in described space;
In the embodiment of Fig. 2 and Fig. 3, described testee WT goes up coaxial the connection with described measurement coded level ruler B, the barycenter JZ0 of described testee WT, be on the axially-extending line of described measurement coded level ruler B, promptly be equivalent on the axially-extending line of described measuring head element, so can obtain following positional information respectively by assert:
Under situation shown in Figure 2, the barycenter JZ0 of described testee WT, in the front end face outside of described measuring head element, on the axially-extending line of described measuring head element, with the baseline cross-section JZ2 that sets on the described measuring head element, distance is the position of WL+3*UL;
Under situation shown in Figure 3, the barycenter JZ0 of described testee WT, in the front end face outside of described measuring head element, on the axially-extending line of described measuring head element, with the baseline cross-section JZ2 that sets on the described measuring head element, distance is the position of WL+2*UL; Among Fig. 3, the barycenter JZ0 of described testee WT, with the baseline cross-section JZ2 that sets on the described measuring head element, distance between the reality is less than described asserting value, but this difference is measured step pitch length UL less than a described unit, promptly be equivalent to: the difference between actual range and the identification distance, the minimum length less than measuring required resolution belongs to normal measuring error scope;
Step (5): continuous repeating step (2)～(4), described position-measurement device can be realized continuously, under arbitrary sampling instant, for the measuring operation of described testee position.
Described industrial computer N can further export the testee positional information that obtains and record.
Described position-measurement device based on two-dimensional pseudo-random code, when the corresponding measurement range of needs is expanded, perhaps under the situation that the sampling number of a sampling instant is very big, promptly be equivalent under a lot of situation of described measurement secondary coil number, have than the previous position measurement mechanism, outstanding high-level efficiency, adaptability and fault-tolerance.
Position-measurement device in the past when described measuring head element is positioned at the link position place of a plurality of described encoder elements just, perhaps can produce error code, judges by accident; Perhaps must be with storage in advance, the combination of various possible error codes compares, and determines the position of error code correspondence, realizes error correction.As previously mentioned, described position-measurement device based on two-dimensional pseudo-random code, by the two-dimensional pseudo-random code mode, only need by with the Several Parameters of storage, and described " measure dimension coding read code value and position of rule mapping table " and " measure the dimension coding read code value encode with fault-tolerant dimension read the corresponding syntagmatic table of code value " middle a small amount of described code value of storing compares, and can determine measuring position information.
Fig. 5 has shown the sampling number a sampling instant, and under 1 to 18 different situations, position-measurement device in the past is with described position-measurement device based on two-dimensional pseudo-random code, for realizing error correction, required respectively code value number of comparisons of carrying out; Promptly be equivalent to not carry out under the error correction situation error code number that may exist.Among Fig. 5, OLD_CODE represents: use the number of comparisons curve that obtains under the position-measurement device situation in the past, NEW_CODE represents: use the number of comparisons curve that obtains under the described position-measurement device situation based on two-dimensional pseudo-random code.As seen from the figure, be that the required code value number of comparisons of carrying out of position-measurement device in the past reaches 105 the order of magnitude under 18 the situation at the sampling number of a sampling instant, and based on the required code value number of comparisons of carrying out of the position-measurement device of two-dimensional pseudo-random code, still have only 2 times.With position-measurement device in the past, improved efficiency of measurement greatly based on the position-measurement device of two-dimensional pseudo-random code, reduced bit error probability, have better measurement applicability.
Claims (1)
1. based on the position-measurement device of two-dimensional pseudo-random code, it is characterized in that, contain: measure coded level ruler for one, a measuring head element, a pumping signal generating unit, a signal condition unit and a position information process unit, wherein:
Measure coded level ruler (B), by staggered coaxial the connecting and composing of the magnetic conduction encoder element (Bb and Bc) of some non-magnetic conduction encoder elements (Ba) and two kinds of different-diameter same materials, wherein the less a kind of magnetic conduction encoder element of diameter is called measurement magnetic conduction encoder element (Bb), and its diameter is identical with described non-magnetic conduction encoder element (Ba) diameter; The bigger magnetic conduction encoder element of another kind of diameter is called fault-tolerant magnetic conduction encoder element (Bc), and its diameter is at least 1.5 times of described measurement magnetic conduction encoder element (Bb) diameter and less than described measuring head element internal channel diameter; Wherein said non-magnetic conduction encoder element (Ba) is total to the E section by the 1st to the E section altogether and constitutes, with (Ba1, Ba2, ..., BaE) expression, described measurement magnetic conduction encoder element (Bb) is total to the F section by the 1st to the F section altogether and constitutes, with (Bb1, Bb2 ..., BbF) expression, described fault-tolerant magnetic conduction encoder element (Bc) is total to the G section by the 1st to the G section altogether and constitutes, with (Bc1, Bc2, ..., BcG) expression; Described each non-magnetic conduction encoder element (Ba) and described total U of magnetic conduction encoder element, the U=E+F of respectively measuring; U, E, F and G value all are predefined;
Described measurement coded level ruler (B) has two ends, and wherein the end face of an end is a front end face, and the end face of the other end is a rear end face, and described front end face and rear end face are predefined;
Step pitch length (UL) is measured by the described position-measurement device unit of preestablishing; Step pitch length (UL) is measured by described unit: carry out in the space of position measurement, need to differentiate the integral multiple of minimum length between each position;
The described position-measurement device unit of preestablishing is fault-tolerant apart from length (CL); Described unit is fault-tolerant apart from length (CL), is determined by the processing and the alignment error of described measuring head element and described measurement coded level ruler, relates to:
I) positivity bias and: in the described measurement coded level ruler, each non-magnetic conduction encoder element or measurement magnetic conduction encoder element, the absolute value sum of maximum forward machining deviation and maximum forward installation deviation, in described measuring head element, any two adjacent measurement secondary coils are along described measuring head element axial direction, distance between the midsection, the absolute value sum of maximum negative sense machining deviation and maximum negative sense installation deviation, these two value sums; Described each positivity bias is all represented the deviation of actual processing dimension greater than design size, and described each negative sense deviation is all represented the deviation of actual processing dimension less than design size;
II) the negative sense deviation and: in the described measurement coded level ruler, each non-magnetic conduction encoder element or measurement magnetic conduction encoder element, the absolute value sum of maximum negative sense machining deviation and maximum negative sense installation deviation, in described measuring head element, any two adjacent measurement secondary coils are along described measuring head element axial direction, distance between the midsection, the absolute value sum of maximum forward machining deviation and maximum forward installation deviation, these two value sums; Described each positivity bias is all represented the deviation of actual processing dimension greater than design size, and described each negative sense deviation is all represented the deviation of actual processing dimension less than design size;
III) loop length deviation: in the described measuring head element, each measures secondary coil, the absolute value sum of maximum machining deviation and maximum installation deviation;
Described each processing and installation deviation are all represented along the deviate of described measuring head element axial direction;
Described unit is fault-tolerant to be not less than apart from length (CL): described positivity bias and with described negative sense deviation and these two values in maximal value, with described measurement secondary coil length variation, half length of the two sum; And described unit is fault-tolerant to be not more than apart from length (CL): step pitch length (UL) is measured by 1/2nd described unit;
Described measurement coded level ruler (B) is that step pitch length (UL) is measured by U unit doubly along self axial direction total length; Front end face from described measurement coded level ruler (B), on described measurement coded level ruler (B), each is the part that step pitch length (UL) is measured by unit along described measurement coded level ruler (B) axial direction length in turn, described non-magnetic conduction encoder element (Ba) on the corresponding described measurement coded level ruler (B) or measurement magnetic conduction encoder element (Bb); At a described non-magnetic conduction encoder element (Ba) and a described measurement magnetic conduction encoder element (Bb), correspond respectively to described measurement coded level ruler (B) last two adjacent, the length unit of being measures in the structure of step pitch length (UL) part, between described non-magnetic conduction encoder element (Ba) and described measurement magnetic conduction encoder element (Bb), be connected with a described fault-tolerant magnetic conduction encoder element (Bc) coaxially, be described fault-tolerant magnetic conduction encoder element (Bc) and described measurement coded level ruler (B) coaxial arrangement, two ends connect described non-magnetic conduction encoder element (Ba) and described measurement magnetic conduction encoder element (Bb) coaxially respectively; Described fault-tolerant magnetic conduction encoder element (Bc) is that 2 times unit is fault-tolerant apart from length (CL) along described measurement coded level ruler (B) axial direction length;
On the described measurement coded level ruler (B), the length of described non-magnetic conduction encoder element of each several part (Ba) or measurement magnetic conduction encoder element (Bb) is incomplete same; The length of each described non-magnetic conduction encoder element (Ba) or measurement magnetic conduction encoder element (Bb), be one of following three types length: or be that step pitch length UL measures in a described unit, or be that a described unit measures step pitch length to deduct a described unit fault-tolerant apart from length (UL-CL), or be that a described unit measures step pitch length to deduct 2 described units fault-tolerant apart from length (UL-2CL); The length of concrete each described magnetic conduction encoder element (Ba) or measurement magnetic conduction encoder element (Bb), determine by relative position between described encoder element and other the described encoder elements and annexation:
On described non-magnetic conduction encoder element (Ba) or measurement magnetic conduction encoder element (Bb) two ends, direct coaxial connection is the structure division of the described encoder element of two other same type respectively, and the length of described non-magnetic conduction encoder element (Ba) or measurement magnetic conduction encoder element (Bb) is that step pitch length (UL) is measured by a described unit;
On described non-magnetic conduction encoder element (Ba) or measurement magnetic conduction encoder element (Bb) two ends, the described encoder element of direct another same type of coaxial connection of one end, the other end does not connect the structure division of other described encoder element, and the length of described non-magnetic conduction encoder element (Ba) or measurement magnetic conduction encoder element (Bb) is that step pitch length (UL) is measured by a described unit;
On described non-magnetic conduction encoder element (Ba) or measurement magnetic conduction encoder element (Bb) two ends, the described encoder element of direct another same type of coaxial connection of one end, and the structure division of the direct described fault-tolerant magnetic conduction encoder element of coaxial connection of the other end (Bc), the length of described non-magnetic conduction encoder element (Ba) or measurement magnetic conduction encoder element (Bb) is (UL-CL), promptly is equivalent to a described unit measurement step pitch length (UL) and deducts the fault-tolerant length that obtains apart from length (CL) of described unit;
On described non-magnetic conduction encoder element (Ba) or measurement magnetic conduction encoder element (Bb) two ends, the direct described fault-tolerant magnetic conduction encoder element of coaxial connection of one end (Bc), and the other end does not connect the structure division of other described encoder element, the length of described non-magnetic conduction encoder element (Ba) or measurement magnetic conduction encoder element (Bb) is (UL-CL), promptly is equivalent to a described unit measurement step pitch length (UL) and deducts the fault-tolerant length that obtains apart from length (CL) of described unit;
On the two ends of described non-magnetic conduction encoder element (Ba) or measurement magnetic conduction encoder element (Bb), direct coaxial connection is the structure division of two other described fault-tolerant magnetic conduction encoder element (Bc) respectively, the length of described non-magnetic conduction encoder element (Ba) or measurement magnetic conduction encoder element (Bb) is (UL-2CL), promptly is equivalent to a described unit measurement step pitch length (UL) and deducts 2 times of fault-tolerant length that obtain apart from length (CL) of described unit;
The structure of described non-magnetic conduction encoder element (Ba) or measurement magnetic conduction encoder element (Bb) different length, guaranteed: from the front end face of described measurement coded level ruler (B), on described measurement coded level ruler (B), each is the part that step pitch length (UL) is measured by unit along described measurement coded level ruler (B) axial direction, the length of corresponding described non-magnetic conduction encoder element (Ba) or measurement magnetic conduction encoder element (Bb), not with structure that any described fault-tolerant magnetic conduction encoder element (Bc) is connected in, be that step pitch length (UL) is measured by a described unit; With structure that described fault-tolerant magnetic conduction encoder element (Bc) is connected in, the length of described non-magnetic conduction encoder element (Ba) or measurement magnetic conduction encoder element (Bb), after half length sum additions of all described fault-tolerant magnetic conduction encoder elements (Bc) that are connected, total length still is that step pitch length (UL) is measured by a described unit; The length of described each encoder element is along described measurement coded level ruler (B) axial direction;
The described non-magnetic conduction encoder element of on the described measurement coded level ruler (B) each (Ba), measurement magnetic conduction encoder element (Bb) and fault-tolerant magnetic conduction encoder element (Bc), mutual alignment on described measurement coded level ruler (B) concerns and is connected order, according to predefined two-dimensional pseudo-random code sequence in corresponding each symbol, first sign-on from sequence, the same order of arranging is arranged from front to back;
Described two-dimensional pseudo-random code sequence, comprise: tie up coded sequence by the measurement that a series of binits " 0 " with pseudo-random distribution feature or " 1 " constitute, and other fault-tolerant dimension coded sequence by series of sign "+" or "-" formation, described fault-tolerant dimension coded sequence also has the pseudo-random distribution feature, and its pseudo-random distribution feature directly depends on the pseudo-random distribution feature of the binary symbol sequence in the described measurement dimension coded sequence;
Binit " 0 " in the described measurement dimension coded sequence is corresponding to each the described non-magnetic conduction encoder element (Ba) on the described measurement coded level ruler (B); Binit " 1 " in the described measurement dimension coded sequence is corresponding to each the described measurement magnetic conduction encoder element (Bb) on the described measurement coded level ruler (B); Symbol "+" in the described fault-tolerant dimension coded sequence is corresponding to each the described fault-tolerant magnetic conduction encoder element (Bc) on the described measurement coded level ruler (B); Symbol "-" in the described fault-tolerant dimension coded sequence, on described measurement coded level ruler (B), between the described encoder element of any two same types, the tie point of direct coaxial connection;
The structure of described measurement coded level ruler (B) has following feature: from described measurement coded level ruler (B), any one described non-magnetic conduction encoder element (Ba) or measurement magnetic conduction encoder element (Bb) centroid position begin, axial along described measurement coded level ruler (B), from front end face to the rear end face direction, step pitch length (UL) is measured by every interval V unit doubly, the type of a described encoder element in corresponding position of record, write down the type of the corresponding described encoder element in S position continuously altogether, and constitute a corresponding codes combination of element types, then structural corresponding to described measurement coded level ruler (B), in the corresponding encoder element type combination that might obtain, any two described encoder element type combination are all inequality;
Described measuring head element comprises: measure primary coil (A2) for one, some uniformly-spaced arrangements and the measurement secondary coil of arranging with the common magnetic axis of described measurement primary coil (A2) (A1); The 1st to S S described measurement secondary coil altogether, with corresponding respectively label (A11, A12 ..., A1S) expression; The described measurement secondary coil of any two adjacent layouts is distinguished correspondence in the described measuring head element, along the distance between two midsections of described measuring head element axial direction, is set at V unit doubly and measures step pitch length (UL); The described length of respectively measuring secondary coil along described measuring head element axial direction, it is fault-tolerant apart from length (CL) to be 2 times of units; Described measurement primary coil (A2) is along described measuring head element axial direction length, for step pitch length (UL) is measured by S*V unit doubly; Whole described measurement secondary coils are arranged in described measurement primary coil (A2) along between former and later two end faces of described measuring head element axial direction; Front end face on the described measurement primary coil (A2) points to the direction of rear end face, promptly is equivalent to along described measuring head element axial direction, and the front end face on the described measuring head element points to the direction of rear end face; Described S and V value are predefined; The described order of respectively measuring secondary coil and described measurement primary coil (A2) along described measuring head element radial arrangement, preestablish according to the environment for use situation: or the described secondary coil of respectively measuring is arranged in described measurement primary coil (A2) outside, or described measurement primary coil (A2) is arranged in the described secondary coil outside of respectively measuring;
Described measurement coded level ruler (B) is along described measuring head element axial direction, to-and-fro movement in described measuring head element internal passage; On described measuring head element, axial along described measuring head element, point to the direction of rear end face from described measuring head element front end face, on described measurement coded level ruler (B), axial along described measurement coded level ruler (B), the direction of pointing to rear end face from the front end face of described measurement coded level ruler (B) is identical;
The described measurement secondary coil of in the described measuring head element each is used to read described measuring head element internal corresponding position, and described measurement coded level ruler (B) goes up the type information of corresponding described encoder element; In measuring overall process, all S described measurement secondary coil inside all has the part on the measurement coded level ruler (B) to exist all the time;
Described pumping signal generating unit (H1), be in series successively by an excitation signal generator (R1) and a pumping signal amplifier (R2), two lead ends of the described measurement primary coil (A2) in two output terminals of described pumping signal amplifier (R2) and the described measuring head element link to each other respectively, providing after the amplification, the ac-excited signal that uses for described measuring head element;
Described signal condition unit (H2) is made of side by side p road signal conditioning circuit, and p=S, the described signal conditioning circuit in every road be by a differential signal amplifier (Jx), x=1 ..., a p and a low-pass filter (Ky), y=1 ..., p is in series successively; Two input ends of the differential signal amplifier in the signal conditioning circuit of every road, respectively with corresponding described measurement secondary coil (A1z), z=1 ..., S, two lead ends link to each other, p is predefined;
Described position information process unit (H3) contains: Chuan Lian A/D converter (M) and industrial computer (N) successively; Any time of described measurement coded level ruler (B) in described measuring head element internal to-and-fro movement process, measure secondary coil for described S, produce respectively be in separately inner, the corresponding induced voltage signal of described encoder element type on the described measurement coded level ruler (B), S described induced voltage signal altogether; Described each induced voltage signal after the described differential signal amplifier of each correspondence of process and low-pass filter are changed, obtains each d. c. voltage signal with the proportional variation of each described induced voltage signal; Each described d. c. voltage signal inserts each the corresponding input end on the described A/D converter again, is converted to through described A/D converter: with each digital voltage signal of the corresponding proportional variation of each described induced voltage signal; Described each digital voltage signal is sent into described industrial computer (N), described industrial computer (N) is through handling each the described digital voltage signal that obtains, obtain: distance (FL) and orientation between the baseline cross-section of setting on reference point (JZ1) that described measurement coded level ruler (B) go up to be set and the described measuring head element (JZ2) promptly are equivalent to have determined the relative position relation between described reference point (JZ1) and the described baseline cross-section (JZ2); In the measurement, fixing described measuring head element is determined the position in the space, the position of the baseline cross-section of setting on the then described measuring head element (JZ2) is determined, according to the described relative position relation that obtains, has just determined the position of the reference point (JZ1) that described measurement coded level ruler (B) is upward set;
Described industrial computer (N) is once sampled and is obtained, and S described digital voltage signal altogether represented to be in S measurement secondary coil inside, described encoder element type on the corresponding described measurement coded level ruler (B) respectively; Corresponding with each the described encoder element type that obtains, common S the symbol that uses in the described two-dimensional pseudo-random code sequence arranged the back in order and formed the code value of determining; Described code value, and described reference point (JZ1) between the described baseline cross-section (JZ2) apart from FL and orientation, the corresponding relation of determining between the two is known; That is, obtain a described code value, determined corresponding described reference point (JZ1) and relative position relation between the described baseline cross-section (JZ2) with regard to corresponding;
The required testee that carries out position measurement is connected on the described measurement coded level ruler (B) in advance, and is synchronized with the movement with described measurement coded level ruler (B); The barycenter of described testee (JZ0), and the relative position relation between the reference point (JZ1) on the described measurement coded level ruler (B) are determined according to the actual measured results after connecting; In the measuring process of position, under the known situation of the described reference point (JZ1) of correspondence and the relative position relation between the described baseline cross-section (JZ2), further determine the barycenter (JZ0) of described testee and the relative position relation between the described baseline cross-section (JZ2); The position of in described space, determining according to the baseline cross-section (JZ2) on the described measuring head element, and then determine the position that the barycenter (JZ0) of described testee is determined in described space, promptly be equivalent to determine the position of described testee;
Described measurement coded level ruler (B) is gone up the reference point of setting (JZ1), is the center of the described front end face on the described measurement coded level ruler (B); The baseline cross-section of setting on the described measuring head element (JZ2), in described measuring head element, on nearest first described measurement secondary coil of front end face of the described measuring head element of distance, along described measuring head element axial direction, the central cross-section of length;
Described industrial computer (N) uses built-in code value and location conversion module, carries out described code value conversion according to following steps, and the position judgment operation:
Step (1): described industrial computer (N) initialization:
Setting switch transition zone bit initial value is " 0 "; The switch transition zone bit is " 1 " expression: current described measuring head element reads, corresponding to each described measurement secondary coil inside, the described encoder element type on the described measurement coded level ruler (B) can not be used for the code value conversion operations; The switch transition zone bit is " 0 " expression: current described measuring head element reads, each described measurement secondary coil inside, the described encoder element type on the described measurement coded level ruler (B) allows to be used to carry out the code value conversion operations;
Set the initial sampling instant t0 of described industrial computer (N), and set the sampling time interval dt of circulating sampling when waiting;
Set described industrial computer (N) in each sampling instant, the sampled point number that reads simultaneously, described sampled point number quantitatively equal total numerical value S of described measurement secondary coil;
Read in described code value and the location conversion module that step pitch length (UL) is measured by predefined described unit and unit is fault-tolerant apart from length (CL);
Set in the described measuring head element, the described measurement secondary coil of any two adjacent layouts, along the distance between the axial midsection of described measuring head element, measure step pitch length (UL) for the doubly described unit of V separately, the V value is predefined in described code value and location conversion module;
Read predefined in described code value and the location conversion module " measure the dimension coding and read code value and position of rule mapping table " and " measure dimension encode read code value encode with fault-tolerant dimension read the corresponding syntagmatic table of code value ";
Setting is by measuring in advance, between the reference point (JZ1) on barycenter of described testee (JZ0) and the described measurement coded level ruler (B) distance W L and the position in described space, determined of the baseline cross-section (JZ2) on orientation and the described measuring head element;
Reading pre-stored, corresponding to current pumping signal level and mounting condition, described measurement secondary coil inside, it is pairing that described measurement coded level ruler (B) is gone up different described encoder element type parts, described industrial computer (N) should read, following each standard digital voltage signal values:
1) V0: when certain described measurement secondary coil inside, when the described measurement coded level ruler part between following thereon two end faces only has described non-magnetic conduction encoder element to exist, the corresponding standard digital voltage signal values that industrial computer should read;
2) V1: when certain described measurement secondary coil inside, when the described measurement coded level ruler part between following thereon two end faces only has described measurement magnetic conduction encoder element to exist, the corresponding standard digital voltage signal values that industrial computer should read;
3) V2: when certain described measurement secondary coil inside, when the described measurement coded level ruler part between following thereon two end faces only has described fault-tolerant magnetic conduction encoder element to exist, the corresponding standard digital voltage signal values that industrial computer should read;
Set the limit deviation ratio dV% of each described digital voltage signal and corresponding described standard digital voltage signal values, described limit deviation ratio dV% represents that with the percentages form described limit deviation ratio dV% value is not more than 50%;
Step (2): the described initial sampling instant t0 of described industrial computer (N) from setting, dt once samples every sampling time interval, and constantly repeats above-mentioned sampling process, circulating sampling when realizing waiting; In any described sampling instant, described industrial computer (N) once reads whole S described digital voltage signals, and compares with each standard digital voltage signal values of described setting:
If: certain described digital voltage signal is less than (V0+V1)/2, and with the absolute value of the difference of (V0+V1)/2 greater than described limit deviation ratio dV% (V0+V1) value doubly, then assert: under current sampling instant, in the described measurement secondary coil inside of this described digital voltage signal correspondence, corresponding what exist is described non-magnetic conduction encoder element on the described measurement coded level ruler; Simultaneously, with the corresponding symbol " 0 " that uses in the described two-dimensional pseudo-random code, represent under the current sampling instant the described encoder element type of described measurement secondary coil inside;
If: certain described digital voltage signal is greater than (V0+V1)/2, and with the absolute value of the difference of (V0+V1)/2 greater than described limit deviation ratio dV% (V0+V1) value doubly, this digital voltage signal is not more than (1+dV%) V1 value doubly simultaneously, then assert: under current sampling instant, in the described measurement secondary coil inside of this described digital voltage signal correspondence, corresponding what exist is described measurement magnetic conduction encoder element on the described measurement coded level ruler; Simultaneously, with the corresponding symbol " 1 " that uses in the described two-dimensional pseudo-random code, represent under the current sampling instant the corresponding described encoder element type of described measurement secondary coil inside;
If: certain described digital voltage signal is greater than (1+dV%) V1 value doubly, then assert: under current sampling instant, in the described measurement secondary coil inside of this described digital voltage signal correspondence, corresponding what exist is described fault-tolerant magnetic conduction encoder element on the described measurement coded level ruler; Simultaneously, with the corresponding symbol "+" that uses in the described two-dimensional pseudo-random code, represent under the current sampling instant described measurement secondary coil inside, corresponding described encoder element type;
Step (3): with what obtain in the step (2), under the current sampling instant, the inner described encoder element type correspondence of all described measurement secondary coils, be total to the symbol that uses in S the described two-dimensional pseudo-random code, sequential combination is the symbol sebolic addressing that reads of a correspondence, and is used for described code value and position conversion:
If: current sampling instant obtains, described reading in the symbol sebolic addressing, only there are described symbol " 0 " or " 1 ", then with the described symbol sebolic addressing that reads, measurement dimension coding as current sampling instant reads code value, search predefined in described code value and the location conversion module " measure the dimension coding and read code value and position of rule mapping table ", obtain described measurement dimension coding and read the code value correspondence, distance (FL) and orientation between the baseline cross-section of setting on reference point (JZ1) that described measurement coded level ruler (B) is upward set and the described measuring head element (JZ2), and tie up coding by the described measurement of the current sampling instant of described industrial computer (N) record and read code value; Simultaneously, read with described that each symbol correspondence replaces with described symbol "-" in the symbol sebolic addressing, constitute one with described to read the symbol sebolic addressing symbol numbers identical, whole new symbol sebolic addressings of forming by described symbol "-", described new symbol sebolic addressing reads code value as the fault-tolerant dimension coding of current sampling instant, and reads code value by the described fault-tolerant dimension coding that reads symbol sebolic addressing and current sampling instant of described industrial computer (N) record; Simultaneously, the switch transition zone bit is set and is " 0 ";
If: the described symbol sebolic addressing that reads that current sampling instant obtains, compare with the described symbol sebolic addressing that reads that last sampling instant obtains, described the reading in the symbol sebolic addressing that obtains in last sampling instant, the position that described symbol "+" do not occur, symbol "+" has newly appearred, and described the reading in the symbol sebolic addressing that last sampling instant obtains, the position that described symbol "+" occurred, still there is symbol "+", then the described measurement dimension coding with last sampling instant correspondence reads code value, described measurement dimension coding as current sampling instant reads code value, obtains the positional information identical with last sampling instant; Simultaneously, "+" expression is still used in the described position that occurs described symbol "+" in the symbol sebolic addressing of reading, the symbol correspondence of other each positions replaces with described symbol "-", constitute one with described to read the symbol sebolic addressing symbol numbers identical, the new symbol sebolic addressing of forming by described symbol "-" and "+", described new symbol sebolic addressing reads code value as the fault-tolerant dimension coding of current sampling instant, and reads code value by the described fault-tolerant dimension coding that reads symbol sebolic addressing and current sampling instant of described industrial computer (N) record; Simultaneously, the switch transition zone bit is set and is " 1 ";
If: the described symbol sebolic addressing that reads that current sampling instant obtains, compare with the described symbol sebolic addressing that reads that last sampling instant obtains, described the reading in the symbol sebolic addressing that obtains in last sampling instant, the position that described symbol "+" occurs, symbol " 0 " or " 1 " have newly appearred, and described the reading in the symbol sebolic addressing that last sampling instant obtains, the position that described symbol "+" do not occur, still there is not symbol "+" to exist, then, carry out to judge according to described switch transition zone bit state:
If: the described switch transition zone bit of last sampling instant record is " 1 ", then read last sampling instant record, described measurement dimension coding reads code value and fault-tolerant dimension coding reads code value, and according to predefined in described code value and the location conversion module " measure the dimension coding read code value encode with fault-tolerant dimension read the corresponding syntagmatic table of code value ", find in the described table, described last sampling instant record is measured the dimension coding and is read the combination correspondence that code value and fault-tolerant dimension coding read code value, and another described measurement dimension coding reads code value; And described another that will find measured, and tieing up encodes reads code value, measurement dimension coding as current sampling instant reads code value, according to described modular converter predefined " measure the dimension coding and read code value and position of rule mapping table ", obtain described measurement dimension coding and read the code value correspondence, described measurement coded level ruler (B) is gone up distance (FL) and the orientation between the baseline cross-section of setting on the reference point (JZ1) set and the described measuring head element (JZ2); Simultaneously, the fault-tolerant dimension coding of last sampling instant record is read code value, fault-tolerant dimension coding as current sampling instant reads code value, and by the measurement dimension coding of the described current sampling instant of described industrial computer (N) record read code value, fault-tolerant dimension coding reads code value and reads symbol sebolic addressing; Simultaneously, the switch transition zone bit is set and is " 0 ";
If: the described switch transition zone bit of last sampling instant record is " 0 ", then described industrial computer (N), the described measurement dimension coding that reads last sampling instant record reads code value and fault-tolerant dimension coding reads code value, read code value and fault-tolerant dimension coding reads code value as the measurement of current sampling instant dimension coding, obtain the positional information identical with last sampling instant; Simultaneously, the switch transition zone bit is set and is " 0 ";
Step (4): described industrial computer (N), according to what obtain, distance (FL) and orientation between the baseline cross-section of setting on reference point (JZ1) that described measurement coded level ruler (B) is upward set and the described measuring head element (JZ2), and it is predefined, distance W L and orientation between the reference point (JZ1) on barycenter of described testee (JZ0) and the described measurement coded level ruler (B), predefined in addition, the position that baseline cross-section (JZ2) on the described measuring head element is determined in described space obtains and exports the positional information that the barycenter (JZ0) of described testee is determined in described space;
Step (5): continuous repeating step (2)～(4), described position-measurement device is realized continuous, under arbitrary sampling instant, for the measuring operation of described testee position.
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| CN104374325A (en) * | 2014-11-14 | 2015-02-25 | 西安交通大学 | Single-code-channel absolute encoding and decoding method based on dual periodic sequences |
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