CN106989763A - A kind of absolute grating code-disc of image-type photoelectric encoder - Google Patents
A kind of absolute grating code-disc of image-type photoelectric encoder Download PDFInfo
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- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
- G01D5/32—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
- G01D5/34—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
- G01D5/347—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells using displacement encoding scales
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- G01D5/34792—Absolute encoders with analogue or digital scales with only digital scales or both digital and incremental scales
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Abstract
The invention discloses a kind of absolute grating code-disc of image-type photoelectric encoder, including circular base plate, thick code identification code channel and smart code identification code channel, smart code identification code channel is the circular code channel of the outmost turns positioned at circular base plate；Thick code identification code channel is the circumference binary system code channel secondary outer ring, there is zero-bit positioned at circular code wheel；For n absolute grating code-discs, thick code identification code channel includes n same center of circle different radiis, the circumferential code channel and 2 that width is equalnIndividual identification position, identification position changes in binary format；The radial direction spacing of two neighboring circumferential code channel is preset value；Smart code identification code channel includes 2nBar is in the same radial location in the same center of circle, radially delineate, smart code identification groove that is equally distributed, not delineating zero-bit.The present invention improves the angle measurement resolving power of image-type photoelectric encoder to a certain extent.
Description
Technical field
The present invention relates to photoelectric displacement Technology of Precision Measurement field, more particularly to a kind of image-type photoelectric encoder it is exhausted
To formula grating encoder.
Background technology
Photoelectric encoder, is a kind of the geometry of machinery displacement on output shaft to be converted into pulse or number by opto-electronic conversion
Word amount, integrate light, mechanical, electrical digital angle position sensor.Photoelectric encoder is by grating encoder and Photoelectric Detection
Device is constituted.Its measurement range is wider, is widely used in electro-optic theodolite, radar, Aero-Space, robot, numerical control machine
Bed, the numerous areas such as director and high precision closed loop governing system.In space flight, military affairs, these volumes to device of industry and again
Amount has the field of strict demand, and the requirement to photoelectric encoder, which is not only, will reduce its outside dimension and weight, more improve
The resolving power and precision of photoelectric encoder.Therefore, while code-disc is reduced, the resolving power and angle measurement essence of photoelectric encoder are improved
Degree is the hot topic studied at present.
For in small-sized high resolution photoelectric angular displacement e measurement technology, photoelectric encoder is not in photoelectric encoder is increased
In the case of the size of grating encoder, it is desirable to which improving the angle measurement resolving power of the photoelectric encoder needs to delineate in the individual pen of code-disc
More grooves, for n grating encoders when n values are bigger, the groove in the individual pen of grating encoder is more, and excessive quarter
Line influences of both producing, and is on the one hand that excessively tiny code-disc groove can make clearance amount not enough, causes encoder can not
Normal decoding；On the other hand it is that groove is excessively intensive in the individual pen of grating encoder to make to interfere generation disorderly between adjacent code channel
Code.Realize that identification and high resolution subdivision to grating encoder pattern are that solution is limited in grating encoder using image detector
A kind of effective method of angle displacement measurement resolving power is improved in the range of groove.But it is not a kind of effective in current research
Grating encoder delineation scheme.
Therefore, in image-type photoelectric encoder, effective, accurate, convenient identification, be conducive to high-resolution survey
Code-disc delineation scheme turns into those skilled in the art's technical issues that need to address.
The content of the invention
It is an object of the invention to provide a kind of absolute grating code-disc of image-type photoelectric encoder, in use may be used
To accurately identify " thick code ", and it is identification benchmark with " smart code identification code channel ", height is calculated with reference to corresponding angle sorting algorithm
" the smart code " of resolving power, improves the angle measurement resolving power of image-type photoelectric encoder to a certain extent.
In order to solve the above technical problems, the invention provides a kind of absolute grating code-disc of image-type photoelectric encoder,
Including circular base plate, thick code identification code channel and smart code identification code channel, the smart code identification code channel is positioned at the circular base plate
The circular code channel of outmost turns；The thick code identification code channel is the circumference secondary outer ring, there is zero-bit positioned at the circular code wheel
Binary system code channel；
For n absolute grating code-discs, the thick code identification code channel includes n same center of circle different radiis, width
Equal circumferential code channel and 2nIndividual identification position, 2nThe individual identification position changes in binary format；The two neighboring circle
The radial direction spacing in all shape code roads is preset value；The smart code identification code channel includes 2nEssence that bar is radially delineated, equally distributed
Code identification groove, and zero-bit is not delineated, all smart code identification grooves are in position of the same center of circle with Radius；It is described
N is the integer more than 1.
Optionally, the delineation position printing opacity in the thick code identification code channel, position is not delineated light tight.
Optionally, the radius of the n circumferential code channels is sequentially reduced from low to high.
Optionally, the preset value is 2 times of width of the circumferential code channel.
Optionally, the adjacent two smart code identification grooves are located at the two ends of the same identification position respectively.
Optionally, the absolute grating code-disc of image-type photoelectric encoder as described above, the n is 8.
Optionally, the absolute grating code-disc of image-type photoelectric encoder as described above, the n is 9.
Optionally, the absolute grating code-disc of image-type photoelectric encoder as described above, circular base plate is to use glass
The circular base plate that a kind of material in glass, resin or plastics is made.
Know the invention provides a kind of absolute grating code-disc of image-type photoelectric encoder, including circular base plate, thick code
Other code channel and smart code identification code channel, smart code identification code channel is the circular code channel of the outmost turns positioned at circular base plate；Thick code identification code
Road is the circumference binary system code channel secondary outer ring, there is zero-bit positioned at circular code wheel；For n absolute grating code-discs, slightly
Code identification code channel includes n same center of circle different radiis, the circumferential code channel and 2 that width is equalnIndividual identification position, 2nIt is individual to know
Other position changes in binary format；The radial direction spacing of two neighboring circumferential code channel is preset value；Smart code identification code channel includes
2nSmart code identification groove that bar is radially delineated, equally distributed, and zero-bit is not delineated, all smart code identification grooves are in together
Position of one center of circle with Radius；N is the integer more than 1.
Thick code identification code channel and essence in the absolute grating code-disc of image-type photoelectric encoder provided in the present invention
Code identification code channel can be accurately identified " thick code " in use respectively positioned at the secondary outer ring of circular base plate and outmost turns, and
It is identification benchmark with " smart code identification code channel ", " the smart code " of high resolution is calculated with reference to corresponding angle sorting algorithm, one
Determine to improve the angle measurement resolving power of image-type photoelectric encoder in degree, while avoiding the groove in the individual pen because of grating encoder
That excessively causes can not normally decode the generation with mess code phenomenon.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, below will be to institute in prior art and embodiment
The accompanying drawing needed to use is briefly described, it should be apparent that, drawings in the following description are only some implementations of the present invention
Example, for those of ordinary skill in the art, on the premise of not paying creative work, can also be obtained according to these accompanying drawings
Obtain other accompanying drawings.
A kind of structural representation of the absolute grating code-disc for 8 bit image formula photoelectric encoder that Fig. 1 provides for the present invention；
A kind of thick code for 8 absolute grating code-discs that Fig. 2 provides for the present invention recognizes the schematic diagram of code channel；
A kind of smart code for 8 absolute grating code-discs that Fig. 3 provides for the present invention recognizes the schematic diagram of groove.
Embodiment
, in use can be accurate the invention provides a kind of absolute grating code-disc of image-type photoelectric encoder
Recognize " thick code ", and be identification benchmark with " smart code identification code channel ", high resolution is calculated with reference to corresponding angle sorting algorithm
" smart code ", improves the angle measurement resolving power of image-type photoelectric encoder to a certain extent.
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
A part of embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art
The every other embodiment obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
Fig. 1 is refer to, a kind of absolute grating code-disc for 8 bit image formula photoelectric encoder that Fig. 1 provides for the present invention
Structural representation.The absolute grating code-disc includes circular base plate 1, thick code identification code channel 2 and smart code identification code channel 3, and smart code is known
Other code channel 3 is the circular code channel of the outmost turns positioned at circular base plate 1；Thick code identification code channel 2 is positioned at the secondary outer ring of circular code wheel
, the circumference binary system code channel that there is zero-bit；
For n absolute grating code-discs, thick code identification code channel includes the circumferential code channel of n same center of circle different radiis
With 2nIndividual identification position, 2nIndividual identification position changes in binary format；The radial direction spacing of two neighboring circumferential code channel is default
Value；The width of each circumferential code channel is equal；Smart code identification code channel includes 2nBar essence code identification groove, and zero-bit, institute are not delineated
There is smart code identification groove to be in position of the same center of circle with Radius, every smart code identification groove is radially delineated；Per phase
Angle between adjacent two smart code identification grooves is equal；The n is the integer more than 1.
It should be noted that the specific value present invention for n does not do any restriction, encoded i.e. according to following rule
Can：For n bit image formula photoelectric encoders, the thick code identification code channel on its absolute grating code-disc includes { L1,L2,L3,…,
LnCommon n circumferential code channel, { L1,L2,L3,…,LnIn each circumferential code channel have the same center of circle (be circular base
The center of circle of disk) and different radiuses, often it is spaced between two neighboring circumferential code channel in certain spacing, each circumferential code channel
Can there is corresponding groove, for example, delineate position printing opacity, do not delineate that position is light tight (can also to delineate position light tight, not carve
Draw position printing opacity)；Thick code identification code channel also include 0,1,2 ..., 2n- 1 } totally 2nIndividual identification position (includes the identification position of 0
Put), for example when delineate position printing opacity, do not delineate position it is light tight when, if LnPrinting opacity, L are delineated when=1nDelineate light tight when=0,
And 0,1,2 ..., 2n- 1 } 2 innIndividual identification position is in binary format change, then { the L in zero-bit1,L2,L3,…,
Ln}={ 0,0,0 ..., 0 }, { L when recognizing position for the 1st1,L2,L3,…,Ln-1,Ln}={ 1,0,0 ..., 0,0 }, at the 2nd
{ L when recognizing position1,L2,L3,…,Ln-1,Ln}={ 0,1,0 ..., 0,0 } ..., the 2ndn{ L during -1 identification position1,L2,
L3,…,Ln-1,Ln}={ 1,1,1 ..., 1,1 }.In addition, having 2 in smart code identification code channelnBar essence code identification groove, and all essences
Code identification groove is equally distributed, that is, the angle between each adjacent two smart code identification grooves is 360 °/2n, uniformly
The measurement beneficial to angle is distributed with.
Specifically, as shown in figure 1, providing the absolute type of 8 (n=8) bit image formula photoelectric encoders in the present embodiment
Grating encoder, the absolute grating code-disc it is main by circular base plate 1, positioned at the circular base plate 1 outmost turns smart code identification code
Road 3 and the smart code identification code channel 3 positioned at 1 outer ring of the circular base plate, wherein, smart code identification code channel 3 is circular code channel, and thick code is known
Other code channel 2 is the circumference binary system code channel that there is zero-bit., should when the absolute grating code-disc is 8 absolute grating code-discs
Thick code identification code channel 2 on absolute grating code-disc has 8 circumferential identification code channels, including { L1,L2,L3,L4,L5,L6,L7,
L8}；Have 256 identification positions, including { 0,1,2 ..., 255 }；Smart code identification code channel 3 includes 256 smart code identification grooves,
And the angle between adjacent two smart code identification grooves is 360 °/256.
It should be noted that the thick code in the present embodiment recognizes the low level LSB of 8 circumferential code channels in code channel 2 outside
Circle, high-order MSB is in inner ring.Certainly, each circumferential code channel in actual applications in thick code identification code channel 2 be not limited only to according to
The mode that radius is sequentially reduced from low to high is arranged.
Fig. 2 is refer to, a kind of thick code for 8 absolute grating code-discs that Fig. 2 provides for the present invention recognizes the principle of code channel
Figure.As shown in Fig. 2 position of the position of white rectangles for delineation printing opacity, { L1,L2,L3,L4,L5,L6,L7,L8In 8 circles
All shape code roads are horizontally-arranged distribution in fig. 2, and L1 to L8 is to drain into the 8th row from first to be distributed successively, each row in figure
Represent an identification position, when recognizing position for the 0th, { L1,L2,L3,L4,L5,L6,L7,L8}={ 0,0,0,0,0,0,0,0 },
{ the L when recognizing position for the 2nd1,L2,L3,L4,L5,L6,L7,L8}={ 0,1,0,0,0,0,0,0 } ..., recognize position at the 255th
Put { L1,L2,L3,L4,L5,L6,L7,L8}={ 1,1,1,1,1,1,1,1 } 256 identification positions are had, wherein, the length of score line
Spend to recognize the width of position.
In addition, as shown in figure 3, Fig. 3 recognizes groove for a kind of smart code of 8 absolute grating code-discs provided by the present invention
Schematic diagram.The position of smart code identification groove provided in the figure is located at the critical localisation of identification position, such as adjacent two
Smart code recognizes that what groove can be preferably is located at the two ends of same identification position respectively.
Optionally, the delineation position printing opacity in thick code identification code channel 2, position is not delineated light tight.
It should be noted that the thick code identification code channel 2 in the present invention preferably delineates position printing opacity, position is not delineated not
Printing opacity, it is of course also possible to use opposite mode, that is, delineation position are light tight, position printing opacity is not delineated.Which is specifically used
The mode of kind, the present invention does not do special restriction to this, can realize the purpose of the present invention.
Optionally, the radius of n circumferential code channel is sequentially reduced from low to high.
Specifically, the thick code in the present invention recognizes n circumferential code channel { L in code channel 21,L2,…,LnIt is binary system
Code channel, the radius of each circumferential code channel therein is preferably sequentially reduced from low to high, that is, low level L1Most
Outer ring, high-order LnIn innermost circle.For example, 8 circumferential code channel { L provided in the present embodiment1,L2,L3,L4,L5,L6,L7,
L8It is binary system code channel, and low level L1In outmost turns, high-order L8In innermost circle.
Certainly, the radius of n circumferential code channel in the application is not limited only to use what is be sequentially reduced from low to high
Mode is arranged, it would however also be possible to employ the mode increased successively from low to high is arranged, specifically can using which kind of mode
Depending on according to actual conditions, special restriction is not done to this to this present invention, the purpose of the present invention can be realized.
Optionally, preset value is 2 times of width of circumferential code channel.
It should be noted that the thick code in the application recognizes adjacent circumferential shape code road in 8 circumferential code channels in code channel 2
The distance between be preferably 2 times of width (width of circumferential code channel score line) of any one circumferential code channel, for example, respectively
The width of individual circumferential code channel is 20 microns, then the spacing between two neighboring circumferential code channel is 40 microns.Certainly, the application
In two neighboring circumferential code channel between spacing be not limited only to as 2 times of any one circumferential code channel width, can also
Using other reasonable values, the present invention does not do special restriction to this, can realize the purpose of the present invention.
Optionally, adjacent two smart code identification grooves are located at the two ends of same identification position respectively.
It should be noted that the particular location of the smart code identification groove of each bar as shown in Figure 3 can be the one of identification position
End, that is, the two ends of the width of identification position correspond to a smart code identification groove respectively.Certainly, smart code identification groove can also
It is corresponding with recognizing the middle optional position of position, as long as can ensure that the smart code identification groove of each bar is uniformly distributed, smart code identification
Groove corresponds specifically to recognize which position present invention of groove does not do special restriction to this, can realize the purpose of the present invention i.e.
Can.
Optionally, the absolute grating code-disc of image-type photoelectric encoder described above, n is 8.
Optionally, the absolute grating code-disc of image-type photoelectric encoder described above, n is 9.
Specifically, when n is 9, thick code identification code channel 2 has 9 circumferential identification code channels, including { L1,L2,L3,L4,L5,
L6,L7,L8,L9}；Have 512 identification positions, including { 0,1,2 ..., 511 }；Smart code identification code channel 3, which includes 512 smart codes, to be known
Angle between other groove, and adjacent two smart code identification grooves is 360 °/512.
It should be noted that when n is more than or equal to 7, angle error is relatively small, when n is less than 7, angle error is relative
It is larger, therefore it is preferred that n can be 7,8 or 9.Certainly, the n in the present invention is not limited only to as 7,8 or 9, can also be reasonable for other
Numerical value, the present invention does not do special restriction to this, can realize the purpose of the present invention.
Optionally, the absolute grating code-disc of image-type photoelectric encoder described above, circular base plate 1 be using glass,
The circular base plate 1 that a kind of material in resin or plastics is made.
It should be noted that the material that the circular base plate 1 in the present invention is used is not limited only to above-mentioned different materials, also may be used
To use other materials, the present invention does not do special restriction to this, can realize the purpose of the present invention.
It will be apparent that thick code identification code channel and smart code recognize that code channel is separated distribution in the present invention, and thick code is known
N bar circumferential code channels in other code channel will not justify each due to being the annular code channel with the same center of circle because n values are larger
It is excessively intensive so as to influence resolving power between all shape code roads.
Know the invention provides a kind of absolute grating code-disc of image-type photoelectric encoder, including circular base plate, thick code
Other code channel and smart code identification code channel, smart code identification code channel is the circular code channel of the outmost turns positioned at circular base plate；Thick code identification code
Road is the circumference binary system code channel secondary outer ring, there is zero-bit positioned at circular code wheel；For n absolute grating code-discs, slightly
Code identification code channel includes n same center of circle different radiis, the circumferential code channel and 2 that width is equalnIndividual identification position, 2nIt is individual to know
Other position changes in binary format；The radial direction spacing of two neighboring circumferential code channel is preset value；Smart code identification code channel includes
2nSmart code identification groove that bar is radially delineated, equally distributed, and zero-bit is not delineated, all smart code identification grooves are in together
Position of one center of circle with Radius；N is the integer more than 1.
Thick code identification code channel and essence in the absolute grating code-disc of image-type photoelectric encoder provided in the present invention
Code identification code channel can be accurately identified " thick code " in use respectively positioned at the secondary outer ring of circular base plate and outmost turns, and
It is identification benchmark with " smart code identification code channel ", " the smart code " of high resolution is calculated with reference to corresponding angle sorting algorithm, one
Determine to improve the angle measurement resolving power of image-type photoelectric encoder in degree, while avoiding the groove in the individual pen because of grating encoder
That excessively causes can not normally decode the generation with mess code phenomenon.
In addition, the absolute grating code-disc of the image-type photoelectric encoder provided in the application can effectively, accurately, just
Prompt measurement result is identified.
It should also be noted that, in this manual, such as term " comprising ", "comprising" or its any other variant meaning
Covering including for nonexcludability, so that process, method, article or equipment including a series of key elements not only include that
A little key elements, but also other key elements including being not expressly set out, or also include be this process, method, article or
The intrinsic key element of equipment.In the absence of more restrictions, the key element limited by sentence "including a ...", is not arranged
Except also there is other identical element in the process including the key element, method, article or equipment.
The foregoing description of the disclosed embodiments, enables professional and technical personnel in the field to realize or using the present invention.
A variety of modifications to these embodiments will be apparent for those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, it is of the invention
The embodiments shown herein is not intended to be limited to, and is to fit to and principles disclosed herein and features of novelty phase one
The most wide scope caused.
Claims (8)
1. a kind of absolute grating code-disc of image-type photoelectric encoder, it is characterised in that including circular base plate, thick code identification code
Road and smart code identification code channel, the smart code identification code channel are the circular code channel of the outmost turns positioned at the circular base plate；It is described thick
Code identification code channel is the circumference binary system code channel secondary outer ring, there is zero-bit positioned at the circular code wheel；
For n absolute grating code-discs, the thick code identification code channel include n same center of circle different radiis, width it is equal
Circumferential code channel and 2nIndividual identification position, 2nThe individual identification position changes in binary format；The two neighboring circumferential
The radial direction spacing of code channel is preset value；The smart code identification code channel includes 2nSmart code that bar is radially delineated, equally distributed is known
Other groove, and zero-bit is not delineated, all smart code identification grooves are in position of the same center of circle with Radius；The n is
Integer more than 1.
2. the absolute grating code-disc of image-type photoelectric encoder according to claim 1, it is characterised in that the thick code
The delineation position printing opacity in code channel is recognized, position is not delineated light tight.
3. the absolute grating code-disc of image-type photoelectric encoder according to claim 2, it is characterised in that n are described
The radius of circumferential code channel is sequentially reduced from low to high.
4. the absolute grating code-disc of image-type photoelectric encoder according to claim 3, it is characterised in that described default
It is worth 2 times of the width for the circumferential code channel.
5. the absolute grating code-disc of image-type photoelectric encoder according to claim 4, it is characterised in that adjacent two
The two ends for being located at the same identification position respectively of the smart code identification groove.
6. the absolute grating code-disc of the image-type photoelectric encoder according to claim 1-5 any one, its feature exists
In the n is 8.
7. the absolute grating code-disc of the image-type photoelectric encoder according to claim 1-5 any one, its feature exists
In the n is 9.
8. the absolute grating code-disc of the image-type photoelectric encoder according to claim 6 or 7, it is characterised in that circular
Chassis is the circular base plate being made using a kind of material in glass, resin or plastics.
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107702738A (en) * | 2017-09-28 | 2018-02-16 | 中国科学院长春光学精密机械与物理研究所 | Corner identifier, angular errors calibration system and method |
| CN107830819A (en) * | 2017-09-28 | 2018-03-23 | 中国科学院长春光学精密机械与物理研究所 | High-precision angular errors demarcation dish and calibration system with identification groove |
| CN108716927A (en) * | 2018-06-29 | 2018-10-30 | 广东工业大学 | A kind of image-type photoelectric encoder and its grating encoder |
| CN109269545A (en) * | 2018-10-19 | 2019-01-25 | 上海摩软通讯技术有限公司 | Test device for magnetometric sensor in mobile terminal |
| CN110686712A (en) * | 2019-11-22 | 2020-01-14 | 中国科学院长春光学精密机械与物理研究所 | Reflective image photoelectric encoder |
| CN111279158A (en) * | 2019-04-23 | 2020-06-12 | 大族激光科技产业集团股份有限公司 | Grating disc and feedback system |
| WO2022116017A1 (en) * | 2020-12-01 | 2022-06-09 | 深圳市速腾聚创科技有限公司 | Grating disc, method for recognizing z-phase signals, photoelectric encoder and laser radar |
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| CN108716927B (en) * | 2018-06-29 | 2020-11-13 | 广东工业大学 | Image type photoelectric encoder and grating code disc thereof |
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| CN110686712A (en) * | 2019-11-22 | 2020-01-14 | 中国科学院长春光学精密机械与物理研究所 | Reflective image photoelectric encoder |
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| CN114846301A (en) * | 2020-12-01 | 2022-08-02 | 深圳市速腾聚创科技有限公司 | Grating disc, Z-phase signal identification method, photoelectric encoder and laser radar |
| CN114846301B (en) * | 2020-12-01 | 2024-02-27 | 深圳市速腾聚创科技有限公司 | Grating disc, Z-phase signal identification method, photoelectric encoder and laser radar |
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