CN108731707A - Double incremental encoders measure absolute position method and apparatus - Google Patents
Double incremental encoders measure absolute position method and apparatus Download PDFInfo
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- CN108731707A CN108731707A CN201810561211.0A CN201810561211A CN108731707A CN 108731707 A CN108731707 A CN 108731707A CN 201810561211 A CN201810561211 A CN 201810561211A CN 108731707 A CN108731707 A CN 108731707A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
- G01D5/249—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains using pulse code
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/003—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring position, not involving coordinate determination
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Abstract
This application involves a kind of double incremental encoders to measure absolute position method and apparatus.The method includes：Obtain the initial alignment value of outlet side incremental encoder；Robot is determined when secondary movement, the practical calibration value of outlet side incremental encoder；The place number of turns of motor side incremental encoder is determined according to initial alignment value and practical calibration value；The absolute position of robot is determined according to the place number of turns of motor side incremental encoder.The absolute position of module robot can be ensured to measure using this method in the case where motor side and outlet side are using double incremental encoders.
Description
Technical field
This application involves industrial automation robotic technology fields, are measured more particularly to a kind of double incremental encoders exhausted
To position method, apparatus, computer equipment and storage medium.
Background technology
With the development of industrial automation technology, the research and application of modularization robot are more and more extensive.Modularization machine
Device people is that the integrated module of drive control is spliced one by one, and encoder, driving plate, motor etc. zero is generally comprised in module
Part.Wherein encoder is to determine the important component of module precision and performance, and influence the main factor of module cost.And
And the absolute position of module robot is also to be measured and fed back by encoder.
However, current major part module robot is used absolutely using incremental encoder and outlet side using motor side
To the scheme of encoder, it is also based on motor side incremental encoder at the absolute position of robot measurement and outlet side is absolute
In the design of encoder, you can directly read the absolute position of robot with the absolute encoder by outlet side.Therefore, when
When motor side and outlet side use incremental encoder simultaneously, the absolute position of module robot just can not be directly learnt.
Invention content
Based on this, it is necessary to which in view of the above technical problems, providing one kind can ensure double incremental encoders the case where
Under measure method, apparatus, computer equipment and the storage medium of module robot absolute position.
A kind of double incremental encoder measurement absolute position methods, the described method comprises the following steps：
Obtain the initial alignment value of outlet side incremental encoder；
Robot is determined when secondary movement, the practical calibration value of outlet side incremental encoder；
The place number of turns of motor side incremental encoder is determined according to the initial alignment value and practical calibration value；
The absolute position of robot is determined according to the place number of turns of the motor side incremental encoder.
The step of initial alignment value for obtaining outlet side incremental encoder includes in one of the embodiments,：
When motor side incremental encoder, which turns to calibration circle, generates zero pulse, outlet side incremental encoder is obtained
The reading value of reading head；
The reading value complementation of the outlet side incremental encoder reading head is obtained into the first of outlet side incremental encoder
Beginning calibration value.
It is described in one of the embodiments, that motor side increment type is determined according to the initial alignment value and practical calibration value
The step of place number of turns of encoder includes：
Number of magnetic pole pairs where determining current outlet side incremental encoder according to the initial alignment value and practical calibration value；
The place number of turns of motor side incremental encoder is calculated according to the number of magnetic pole pairs.
It is described in one of the embodiments, that current outlet side is determined according to the initial alignment value and the practical calibration value of reading
The step of pole pair numerical value, includes where incremental encoder：
Obtain the set of the number of magnetic pole pairs；
Pole pair numerical value all in the set is traversed according to the initial alignment value and practical calibration value, selection meets
The number of magnetic pole pairs of preset requirement.
The place number of turns according to the motor side incremental encoder determines robot in one of the embodiments,
Absolute position the step of include：
Obtain the resolution ratio of motor side incremental encoder；
According to the absolute position of the place number of turns and resolution ratio calculating robot of motor side incremental encoder.
A kind of double incremental encoder measurement absolute position devices, described device include：
Initial alignment value acquisition module, the initial alignment value for obtaining outlet side incremental encoder；
Practical calibration value determining module, for determining robot when secondary movement, the reality of outlet side incremental encoder
Calibration value；
Number of turns determining module, for determining motor side incremental encoder according to the initial alignment value and practical calibration value
The place number of turns；
Absolute position determining module, for determining robot according to the place number of turns of the motor side incremental encoder
Absolute position.
The initial alignment value acquisition module includes in one of the embodiments,：
Output valve acquisition module, for when motor side incremental encoder turns to calibration circle and generates zero pulse, obtaining
Take the reading value of outlet side incremental encoder reading head；
Calibration value acquisition module, for the reading value complementation of the outlet side incremental encoder reading head to be obtained output
The initial alignment value of side incremental encoder.
The number of turns determining module includes in one of the embodiments,：
Number of magnetic pole pairs acquisition module, for determining current outlet side increment according to the initial alignment value and practical calibration value
Number of magnetic pole pairs where formula encoder；
Number of turns computing module, the place number of turns for calculating motor side incremental encoder according to the number of magnetic pole pairs.
The number of magnetic pole pairs acquisition module includes in one of the embodiments,：
Gather acquisition module, the set for obtaining the number of magnetic pole pairs；
Selecting module, for traversing pole pair all in the set according to the initial alignment value and practical calibration value
Numerical value, selection meet the number of magnetic pole pairs of preset requirement.
The absolute position determining module includes in one of the embodiments,：
Resolution ratio acquisition module, the resolution ratio for obtaining motor side incremental encoder：
Absolute position computing module, for the place number of turns and resolution ratio computing machine according to motor side incremental encoder
The absolute position of people.
A kind of computer equipment, including memory and processor, the memory are stored with computer program, and feature exists
In the processor realizes that above-mentioned double incremental encoders measure when executing the computer program any in the method for absolute position
The step of item the method.
A kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the computer program
The step of above-mentioned double incremental encoders measure the method described in any one of absolute position method is realized when being executed by processor.
Above-mentioned double incremental encoders measure absolute position method and apparatus, by obtaining outlet side incremental encoder
Initial alignment value and the practical calibration value of determining outlet side encoder, electricity is determined according to the initial alignment value and practical calibration value
The place number of turns of pusher side incremental encoder, the absolute position of robot is determined according to the number of turns of motor side incremental encoder,
Realize the method that robot absolute position can be accurately measured using double incremental encoders based on motor side and outlet side.
Description of the drawings
Fig. 1 is the flow diagram that double incremental encoders measure absolute position method in one embodiment；
Fig. 2 is the structure chart of double incremental encoders in one embodiment；
Fig. 3 is the flow diagram for the initial alignment value step that outlet side incremental encoder is determined in one embodiment；
Fig. 4 is the place for determining motor side incremental encoder in one embodiment according to initial alignment value and practical calibration
The flow diagram of number of turns step；
Fig. 5 is the absolute position for determining robot in another embodiment according to the place number of turns of motor side incremental encoder
Set the flow diagram of step；
Fig. 6 is the structure diagram that double incremental encoders measure absolute position device in one embodiment；
Fig. 7 is the internal structure chart of one embodiment Computer equipment.
Specific implementation mode
It is with reference to the accompanying drawings and embodiments, right in order to make the object, technical solution and advantage of the application be more clearly understood
The application is further elaborated.It should be appreciated that specific embodiment described herein is only used to explain the application, not
For limiting the application.
Encoder be signal or data are worked out, be converted to can be used to communicate, the signal form of transimission and storage
Equipment.Angular displacement or straight-line displacement are converted into electric signal by encoder, the former is known as code-disc, and the latter is known as yardstick.And with work
The development of industry automatic technology, the research and application of modularization robot are more and more extensive.Wherein encoder is decision module
The important component of robot module precision and performance, also be typically in addition to speed reducer other than influence module cost it is main because
Element.Usual encoder can be divided into contact and two kinds contactless according to playback mode, can divide according to operation principle encoder
For two class of increment type and absolute type.Incremental encoder is that displacement is converted into periodic electric signal, then this electric signal
It is changed into counting pulse, the size of displacement is indicated with the number of pulse.Each position of absolute type encoder corresponds to one really
Fixed digital code, therefore its indicating value is only related with the final position of the starting of measurement, and it is unrelated with the pilot process of measurement.
With only being compared in the past with the scheme of an absolute encoder in motor side, now usually motor side and outlet side all
With an encoder, referred to as Dual-encoder scheme.It is to improve the peace of module by increasing redundancy using the advantages of Dual-encoder
Full reliability, while can also realize the significant data source of the advanced algorithm functions such as dragging teaching.However, tradition is compiled using double
Code device is all that motor side uses incremental encoder and outlet side absolute type encoder, according to the lower absolute coding of precision
The performance of device, module can have a greatly reduced quality, again too high according to absolute type encoder cost with high accuracy, cause cost and performance total
It is to contradict.In contrast, can be low using the cost of the higher incremental encoder of precision, therefore in order to effectively reduce machine
The cost of device people's module ensures that the performance of module, this programme are used and all encoded using increment type in motor side and outlet side simultaneously
Device.Also, the absolute position of traditional measurement module robot is all based in the design of outlet side setting absolute encoder, works as electricity
When pusher side and outlet side use incremental encoder simultaneously, the absolute position of module robot just can not be directly learnt, therefore also
It provides a kind of based on double incremental encoders measurement absolute position methods.
In one embodiment, as shown in Figure 1, providing a kind of double incremental encoder measurement absolute position methods, packet
Include following steps：
S102 obtains the initial alignment value of outlet side incremental encoder.
Wherein, incremental encoder is displacement to be converted into periodic electric signal, then this electric signal is changed into meter
Rapid pulse rushes, and the size of displacement is indicated with the number of pulse.Incremental encoder can be divided into increment type grating encoder and increment
Increment type magnetic grid encoder is preferably used in formula magnetic grid encoder, in the present embodiment, outlet side, and increasing is preferably used in motor side
Amount formula grating encoder.
Initial alignment value refers to modularization robot for the first time in use, being absolute position according to the regular determination of setting
It has calculated with reference to the numerical value used.Specifically, modularization robot is for the first time in use, control its motor in rotation process
In, motor side incremental encoder is obtained when being arbitrarily designated circle generation zero pulse, the reading of outlet side incremental encoder
Numerical value determines initial alignment value according to the reading value.
The structure chart of double incremental encoders is as shown in Fig. 2, include：Motor side incremental encoder code-disc 202, motor 204,
Speed reducer 206, outlet side end face 208, outlet side incremental encoder code-disc 210, motor side incremental encoder reading head
212, outlet side incremental encoder reading head 214, drive and control of electric machine plate 216 and cage connection column 220.
Wherein, motor side incremental encoder 202, motor 204, speed reducer 206 and outlet side incremental encoder code
Disk 210 is all hollow structure, and rotation axis 218 connects motor side incremental encoder 202, motor 204, speed reducer 206 and defeated
Go out the hollow structure part of side incremental encoder code-disc 210, motor side incremental encoder code-disc 202 connect with motor 204,
Motor 204 is connect with one end of speed reducer 206, the other end of speed reducer 206 connects outlet side end face 208, outlet side increment type
Encoder code disc 210 is connect by rotation axis 218 with outlet side end face 208.It is motor side incremental encoder reading head 212, defeated
Go out side incremental encoder reading head 214 and drive and control of electric machine plate 216 is all fixedly connected on cage connection column 220.
When the control system of robot transmits voltage signal to motor 204, motor 204 converts voltage signal to torque
Rotated with driving motor side incremental encoder code-disc 202 and speed reducer 206 with rotating speed, and by with motor side increment type
Encoder 202, motor 204, the rotation axis 218 that the hollow structure of speed reducer 206 is connected with outlet side end face 208 drive output
Side incremental encoder code-disc 210 is rotated.Then pass through motor side incremental encoder reading head 212 and outlet side increment
Displacement is converted into periodic electric signal and sends motor driving to by 214 incremental encoders measured of formula encoder count head
Control panel 216, drive and control of electric machine plate 216 calculate the absolute position of outlet side according to reading.
Specifically, it after controlling motor rotation, obtains outlet side when motor side incremental encoder generates zero pulse and increases
Reading value corresponding to amount formula encoder count head, and complementation is carried out to the reading value and obtains initial alignment value, and demarcate
It only needs to do once, can be used later using calibration value as constant value.
Specifically, robot is for the first time in use, control motor slowly runs, when motor side incremental encoder produces
When raw zero pulse, record corresponding outlet side incremental encoder reading value at this time, and by the reading value and outlet side increment
The high-subdividing number of formula encoder carries out complementation, and the value obtained by complementation is determined as the initial alignment value of outlet side incremental encoder.
S104 determines robot when secondary movement, the practical calibration value of outlet side incremental encoder.
Wherein, because robot restart after firstly the need of prophet's pipeline robot current pose, that is, robot restarts
Current absolute position afterwards, so current after time movement refers to module robot power-off restarting or robot is re-energised
State.Practical calibration value refers to after modularization robot is restarted, and control motor is in rotation process, when motor side increment type is compiled
When code device generates zero pulse, the corresponding reading value of outlet side incremental encoder is obtained, is determined according to the reading value practical
Calibration value.
Specifically, after modularization robot is restarted, control motor is rotated, when motor side incremental encoder generates
When zero pulse, the reading value of the encoder of corresponding outlet side increment type at this time is recorded, and the reading value and outlet side are increased
The high-subdividing number of amount formula encoder carries out complementation, and the value obtained by complementation is practical calibration value.In order to ensure the accurate of small change point pulse
Property, determine that the speed that controlled motor is rotated when practical calibration value needs and determines that outlet side increment type is compiled in step S102
Motor rotation speed when the initial alignment value of code device is consistent.Therefore, however, it is determined that outlet side incremental encoder calibration value
When motor be to slowly run, obtain outlet side incremental encoder reading value also need control motor carry out low speed rotation
It is dynamic, keep high-speed rotation if high-speed rotation is i.e. same.
Specifically, when motor power-off restarting, the same motor that controls slowly runs, when motor side incremental encoder
When generating zero pulse, records the corresponding reading value of outlet side incremental encoder at this time and asked with high-subdividing number according to the reading value
It is remaining to obtain practical calibration value.
S106 determines the place number of turns of motor side incremental encoder according to initial alignment value and practical calibration value.
Specifically, determine that current outlet side increases by the initial alignment value of outlet side incremental encoder and practical calibration value
Number of magnetic pole pairs where amount formula encoder calculate the place number of turns of motor side incremental encoder according to number of magnetic pole pairs.Wherein, magnetic
Number of pole-pairs is the basic line number of encoder, and basic line number is determined by the actual parameter of encoder selected in practical application.
Wherein, since the encoder of outlet side is incremental encoder, and the absolute position of incremental encoder is basis
Number of magnetic pole pairs residing for encoder are calculated with the number of turns turned.So wanting the absolute position after determining robot restarts just
The number of magnetic pole pairs where current delta formula encoder are first found out, and can be found out according to number of magnetic pole pairs after determining number of magnetic pole pairs
The number of turns being currently located.
S108 determines the absolute position of robot according to the place number of turns of motor side incremental encoder.
Specifically, it is determined that after the place number of turns of motor side incremental encoder, point of motor side incremental encoder is obtained
The value of resolution, gained that resolution ratio is multiplied with the place number of turns is the absolute position of robot.
Since the resolution ratio of incremental encoder is that encoder turns around exported positional number, so when calculate machine
The number of turns that device people is presently in after restarting, you can according to the residing number of turns and positional number (resolution ratio) to seize the opportunity calculating robot current
Absolute position.
Above-mentioned double incremental encoders measure absolute position method, by the calibration value for determining outlet side incremental encoder
And outlet side encoder count value is obtained, the place of motor side incremental encoder is determined according to the calibration value and reading value
The number of turns determines the absolute position of robot according to the number of turns of motor side incremental encoder, realizes based on motor side and output
The method that side can accurately measure robot absolute position using double incremental encoders.
In one embodiment, as shown in figure 3, the initial alignment value for obtaining outlet side incremental encoder includes following step
Suddenly：
S302 obtains outlet side increment type when motor side incremental encoder, which turns to calibration circle, generates zero pulse
The reading value of encoder count head.
Wherein, calibration circle can be specified any one circle.It, can when robot starts control motor for the first time to be rotated
It is calibration circle with specified first lap, the second circle or an any other circle.When motor, which turns to calibration circle, generates zero pulse
The corresponding reading value of outlet side incremental encoder reading head can be obtained.
Specifically, when motor is slowly run, motor side incremental encoder generates zero when turning to calibration circle
After pulse, the reading value of outlet side incremental encoder reading head is read.Such as：Specified second circle is calibration circle, that is, obtains and work as
When motor turns to the generation zero pulse of the second circle, the corresponding reading value of outlet side incremental encoder reading head.
The reading value complementation of outlet side incremental encoder reading head is obtained the first of outlet side incremental encoder by S304
Beginning calibration value.
Specifically, the reading value of outlet side incremental encoder reading head and outlet side encoder high-subdividing number are subjected to complementation
The value obtained afterwards is initial alignment value.Outlet side incremental encoder initial alignment value calculation formula is：
A=x%p；
Wherein, a is initial alignment value, and x is that outlet side incremental encoder is read when turning to calibration circle generation zero pulse
Several reading values, % indicate that complementation, p are high-subdividing number, and high-subdividing number is the actual parameter of encoder selected in practical application,
In the present embodiment, p=4096.
Assuming that x=40608, then：
A=x%p=40608%4096=3744
Calibration only needs to do once, and a can be used as constant value later.
In another embodiment, in order to reduce noise, calibration circle when seeking initial alignment value can not limit
For any one circle, it is possible to specify arbitrary multi-turn, such as：Calibration circle can be first lap, the second circle, third circle and the 4th circle.?
Exactly when motor turns to first lap, the second circle, third circle and the 4th circle respectively generates zero pulse, obtains this four circle and generate
Reading value when zero pulse corresponding to outlet side incremental encoder reading head, solves the average value of this multiple reading value,
According to mean value calculation calibration value.It is respectively when obtaining reading value caused by the encountered zero pulse of 4 circle of motor rotation：x1
=40608, x2=42073, x3=43531, x4=44987, then：
A=[(x1+x2+x3+x4- 6b)/4] %p
=[(40608+42073+43531+44987-6 × 1460)/4] %4096=3746
Since encoder count has certain intervals, it is needed to subtract between reading to reduce the error between each number of turns
Every.B is corresponding outlet side encoder count interval between the adjacent number of turns, theoretically the corresponding outlet side coding of the adjacent number of turns
Device reading time interval is b=pk/g=1460, the maximum value that wherein p=4096 is high-subdividing number, k=36 is number of magnetic pole pairs, g=101
For the reduction ratio of module, a=3746 may act as constant value use.
In one embodiment, as shown in figure 4, determining that motor side increment type is compiled according to initial alignment value and practical calibration value
The place number of turns of code device includes the following steps：
S402, pole pair where determining current outlet side incremental encoder according to initial alignment value and practical calibration value
Number.
In one embodiment, current outlet side incremental encoder institute is determined according to initial alignment value and practical calibration value
Include the following steps in number of magnetic pole pairs：
S1 obtains the set of number of magnetic pole pairs.
Specifically, number of magnetic pole pairs are the basic line number of encoder, by the reality of encoder selected in practical application
Parameter determines.In the present embodiment, the collection of number of magnetic pole pairs is combined into { 0,1 ... ..., k-1 }, k=36.
S2, according to pole pair numerical value all in initial alignment value and practical calibration value traversal set, selection meets default
It is required that number of magnetic pole pairs.
Specifically, it is determined that number of magnetic pole pairs calculation formula where current outlet side incremental encoder is：
(mp+y%p-a) % (pk/g)
Wherein, m is the place number of magnetic pole pairs of encoder, and a is initial alignment value, and y is reading value, and p=4096 is high-subdividing number,
Y%p is practical calibration value, the corresponding outlet side encoder count intervals between the adjacent number of turns b=pk/g.Number of magnetic pole pairs m institutes
Collection be combined into { 0,1 ... ..., k-1 }, k=36.In order to determine the occurrence of m, that is, traverse the number of magnetic pole pairs set where m.Institute
Meaning traversal refers to once doing primary to each node in tree and only doing primary access along certain search pattern, i.e., will set
In all value bring into above-mentioned number of magnetic pole pairs calculation formula, in order to ensure m has and only there are one value, i.e. selection meets in gathering
The value of preset condition is m.
And in order to ensure that m has and only there are one value, it is relatively prime that place number of magnetic pole pairs calculation formula should meet k and reduction ratio g
Condition, then：
0≤(mp+y%p-a) % (pk/g)≤p/2g
Or pk/g-p/2g≤(mp+y%p-a) % (pk/g)≤pk/g
It is assumed that y=48647, y is brought into formula 0≤(mp+y%p-a) % (pk/g)≤p/2g, m is traversed, that is,
Each value in set where m is brought into formula, is solved only as m=20, formula can just be set up, i.e.,：
(mp+y%p-a) % (pk/g)=(m × 4096+48647%4096-3746) %1460
0≤(20 × 4096+48647%4096-3746) %1460=5≤20
S404 calculates the place number of turns of motor side incremental encoder according to number of magnetic pole pairs.
Specifically, number of turns calculation formula in place is：
Wherein, n is the number of turns residing for motor side at this time, and p is the high-subdividing number of outlet side encoder, and y%p is practical demarcates
Value, a are initial alignment value, and g is reduction ratio, and floor indicates downward rounding.
It is assumed that working as y=48647, p=4096, m=20, a=3746, k=36 and g=101, then：
In one embodiment, as shown in figure 5, the place number of turns according to motor side incremental encoder determines robot
Absolute position includes the following steps：
S502 obtains the resolution ratio of motor side incremental encoder.
Specifically, since the resolution ratio of incremental encoder is that encoder turns around exported positional number, so working as
Calculate the number of turns being presently in after robot restarts, you can computer is seized the opportunity according to the residing number of turns and positional number (resolution ratio)
The current absolute position of device people.
S504, according to the absolute position of the place number of turns and resolution ratio calculating robot of motor side incremental encoder.
Specifically, absolute position calculation formula is：
Z=nR1
Wherein, n is the number of turns where robot, and R is the resolution ratio of motor side incremental encoder.
In another implementation, according to the current pose of robot absolute position calculating robot, i.e., each joint turns
Dynamic angle number.Calculation formula is：
D=z/gR1* 360 °=nR1/gR1*360°
Wherein, D is angle number, obtains the resolution ratio R of motor side incremental encoder first1, according to motor side increment type
The resolution ratio R of encoder1It is the resolution ratio of outlet side incremental encoder with reduction ratio g products.It is assumed that circle where robot
Number is n=56, and the resolution ratio of motor side incremental encoder is R1When=131072, the joint of robot institute corner number of degrees are：D=
56*131072/101*131072*360 °=199.6 °, you can know that the absolute position of current robot is 7340032, and close
Angle where section is 199.6 degree.
Above-mentioned double incremental encoders measure absolute position method and apparatus, by determining outlet side incremental encoder
Calibration value and acquisition outlet side encoder count value, motor side incremental encoder is determined according to the calibration value and reading value
The place number of turns, the absolute position of robot is determined according to the number of turns of motor side incremental encoder, is realized based on motor side
The method that can accurately measure robot absolute position using double incremental encoders with outlet side.
It should be understood that although each step in the flow chart of Fig. 1-5 is shown successively according to the instruction of arrow,
These steps are not that the inevitable sequence indicated according to arrow executes successively.Unless expressly stating otherwise herein, these steps
Execution there is no stringent sequences to limit, these steps can execute in other order.Moreover, at least one in Fig. 1-5
Part steps may include that either these sub-steps of multiple stages or stage are not necessarily in synchronization to multiple sub-steps
Completion is executed, but can be executed at different times, the execution sequence in these sub-steps or stage is also not necessarily successively
It carries out, but can either the sub-step of other steps or at least part in stage be in turn or alternately with other steps
It executes.
In one embodiment, as shown in fig. 6, providing a kind of double incremental encoder measurement absolute position devices 600,
Including：Calibration value determining module 602, reading value acquisition module 604, number of turns determining module 606 and absolute position determining module
608, wherein：
Initial alignment value acquisition module 602, the initial alignment value for obtaining outlet side incremental encoder.
Practical calibration value determining module 604, for determining robot when secondary movement, the reality of outlet side incremental encoder
Border calibration value.
Number of turns determining module 606, for determining motor side incremental encoder according to initial alignment value and practical calibration value
The place number of turns.
Absolute position determining module 608, for determining robot according to the place number of turns of motor side incremental encoder
Absolute position.
In one embodiment, initial alignment value acquisition module 602 includes：
Output valve acquisition module, for when motor side incremental encoder turns to calibration circle and generates zero pulse, obtaining
Take the reading value of outlet side incremental encoder reading head.
Calibration value acquisition module increases for the reading value complementation of outlet side incremental encoder reading head to be obtained outlet side
The initial alignment value of amount formula encoder.
In one embodiment, number of turns determining module 604 includes：
Number of magnetic pole pairs acquisition module, for determining that current outlet side increment type is compiled according to initial alignment value and practical calibration value
Number of magnetic pole pairs where code device.
Number of turns computing module, the place number of turns for calculating motor side incremental encoder according to number of magnetic pole pairs.
In one embodiment, number of magnetic pole pairs acquisition module 606 includes：
Gather acquisition module, the set for obtaining number of magnetic pole pairs.
Selecting module, for according to pole pair numerical value all in initial alignment value and practical calibration value traversal set, choosing
Select the number of magnetic pole pairs for meeting preset requirement.
In one embodiment, absolute position determining module 608 includes：
Resolution ratio acquisition module, the resolution ratio for obtaining motor side incremental encoder：
Absolute position computing module, for the place number of turns and resolution ratio computing machine according to motor side incremental encoder
The absolute position of people.
The specific restriction that absolute position device is measured about double incremental encoders may refer to above for double increments
Formula encoder measures the restriction of absolute position method, and details are not described herein.Above-mentioned double incremental encoders measure absolute position dress
Modules in setting can be realized fully or partially through software, hardware and combinations thereof.Above-mentioned each module can be in the form of hardware
It is embedded in or independently of the storage that in the processor in computer equipment, can also be stored in a software form in computer equipment
In device, the corresponding operation of the above modules is executed in order to which processor calls.
In one embodiment, a kind of computer equipment is provided, the computer equipment is module in the present embodiment
Change robot, internal structure chart can be as shown in Figure 7.The computer equipment include the processor connected by system bus,
Memory, network interface and database.Wherein, the processor of the computer equipment is in modularization robot drive control plate
MCU (Microcontroller Unit), for provide calculate and control ability.The memory of the computer equipment includes non-
Volatile storage medium, built-in storage.The non-volatile memory medium is stored with operating system, computer program and database.
The built-in storage provides environment for the operation of operating system and computer program in non-volatile memory medium.The computer is set
Standby database calculates data for storing.The network interface of the computer equipment is used to pass through network connection with external terminal
Communication.To realize that a kind of double incremental encoders measure absolute position method when the computer program is executed by processor.
It will be understood by those skilled in the art that structure shown in Fig. 7, is only tied with the relevant part of application scheme
The block diagram of structure does not constitute the restriction for the computer equipment being applied thereon to application scheme, specific computer equipment
May include either combining certain components than more or fewer components as shown in the figure or being arranged with different components.
In one embodiment, a kind of computer equipment, including memory and processor are provided, is stored in memory
Computer program, the processor realize following steps when executing computer program：
Obtain the initial alignment value of outlet side incremental encoder；
Robot is determined when secondary movement, the practical calibration value of outlet side incremental encoder；
The place number of turns of motor side incremental encoder is determined according to initial alignment value and practical calibration value；
The absolute position of robot is determined according to the place number of turns of motor side incremental encoder.
In one embodiment, following steps are also realized when processor executes computer program：
When motor side incremental encoder, which turns to calibration circle, generates zero pulse, outlet side incremental encoder is obtained
The reading value of reading head；
The reading value complementation of outlet side incremental encoder reading head is obtained to the initial mark of outlet side incremental encoder
Definite value.
In one embodiment, following steps are also realized when processor executes computer program：
Number of magnetic pole pairs where determining current outlet side incremental encoder according to initial alignment value and practical calibration value；
The place number of turns of motor side incremental encoder is calculated according to number of magnetic pole pairs.
In one embodiment, following steps are also realized when processor executes computer program：
Obtain the resolution ratio of motor side incremental encoder；
According to the absolute position of the place number of turns and resolution ratio calculating robot of motor side incremental encoder.
In one embodiment, a kind of computer readable storage medium is provided, computer program is stored thereon with, is calculated
Machine program realizes following steps when being executed by processor：
Obtain the initial alignment value of outlet side incremental encoder；
Robot is determined when secondary movement, the practical calibration value of outlet side incremental encoder；
The place number of turns of motor side incremental encoder is determined according to initial alignment value and practical calibration value；
The absolute position of robot is determined according to the place number of turns of motor side incremental encoder.
In one embodiment, following steps are also realized when computer program is executed by processor：
When motor side incremental encoder, which turns to calibration circle, generates zero pulse, outlet side incremental encoder is obtained
The reading value of reading head；
The reading value complementation of outlet side incremental encoder reading head is obtained to the initial mark of outlet side incremental encoder
Definite value.
In one embodiment, following steps are also realized when computer program is executed by processor：
Number of magnetic pole pairs where determining current outlet side incremental encoder according to initial alignment value and practical calibration value；
The place number of turns of motor side incremental encoder is calculated according to number of magnetic pole pairs.
In one embodiment, following steps are also realized when computer program is executed by processor：
Obtain the resolution ratio of motor side incremental encoder；
According to the absolute position of the place number of turns and resolution ratio calculating robot of motor side incremental encoder.
One of ordinary skill in the art will appreciate that realizing all or part of flow in above-described embodiment method, being can be with
Relevant hardware is instructed to complete by computer program, the computer program can be stored in a non-volatile computer
In read/write memory medium, the computer program is when being executed, it may include such as the flow of the embodiment of above-mentioned each method.Wherein,
Any reference to memory, storage, database or other media used in each embodiment provided herein,
Including non-volatile and/or volatile memory.Nonvolatile memory may include read-only memory (ROM), programming ROM
(PROM), electrically programmable ROM (EPROM), electrically erasable ROM (EEPROM) or flash memory.Volatile memory may include
Random access memory (RAM) or external cache.By way of illustration and not limitation, RAM is available in many forms,
Such as static state RAM (SRAM), dynamic ram (DRAM), synchronous dram (SDRAM), double data rate sdram (DDRSDRAM), enhancing
Type SDRAM (ESDRAM), synchronization link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM
(RDRAM), direct memory bus dynamic ram (DRDRAM) and memory bus dynamic ram (RDRAM) etc..
Each technical characteristic of above example can be combined arbitrarily, to keep description succinct, not to above-described embodiment
In each technical characteristic it is all possible combination be all described, as long as however, the combination of these technical characteristics be not present lance
Shield is all considered to be the range of this specification record.
The several embodiments of the application above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, under the premise of not departing from the application design, various modifications and improvements can be made, these belong to the protection of the application
Range.Therefore, the protection domain of the application patent should be determined by the appended claims.
Claims (10)
1. a kind of double incremental encoders measure absolute position method, the described method comprises the following steps：
Obtain the initial alignment value of outlet side incremental encoder；
Robot is determined when secondary movement, the practical calibration value of outlet side incremental encoder；
The place number of turns of motor side incremental encoder is determined according to the initial alignment value and practical calibration value；
The absolute position of robot is determined according to the place number of turns of the motor side incremental encoder.
2. double incremental encoders according to claim 1 measure absolute position method, which is characterized in that the acquisition is defeated
The step of initial alignment value for going out side incremental encoder includes：
When motor side incremental encoder, which turns to calibration circle, generates zero pulse, outlet side incremental encoder reading is obtained
The reading value of head；
The reading value complementation of the outlet side incremental encoder reading head is obtained to the initial mark of outlet side incremental encoder
Definite value.
3. double incremental encoders according to claim 1 measure absolute position method, which is characterized in that described according to institute
Stating the step of initial alignment value and practical calibration value determine the place number of turns of motor side incremental encoder includes：
Number of magnetic pole pairs where determining current outlet side incremental encoder according to the initial alignment value and practical calibration value；
The place number of turns of motor side incremental encoder is calculated according to the number of magnetic pole pairs.
4. double incremental encoders according to claim 3 measure absolute position method, which is characterized in that described according to institute
Stating the step of initial alignment value and practical calibration value determine current outlet side incremental encoder place pole pair numerical value includes：
Obtain the set of the number of magnetic pole pairs；
Pole pair numerical value all in the set is traversed according to the initial alignment value and practical calibration value, selection meets default
It is required that number of magnetic pole pairs.
5. double incremental encoders according to claim 1 measure absolute position method, which is characterized in that described according to institute
It states the step of the place number of turns of motor side incremental encoder determines the absolute position of robot and includes：
Obtain the resolution ratio of motor side incremental encoder；
According to the absolute position of the place number of turns and resolution ratio calculating robot of motor side incremental encoder.
6. a kind of double incremental encoders measure absolute position device, which is characterized in that described device includes：
Initial alignment value acquisition module, the initial alignment value for obtaining outlet side incremental encoder；
Practical calibration value determining module, for determining robot when secondary movement, the practical calibration of outlet side incremental encoder
Value；
Number of turns determining module, the institute for determining motor side incremental encoder according to the initial alignment value and practical calibration value
In the number of turns；
Absolute position determining module, for determining the absolute of robot according to the place number of turns of the motor side incremental encoder
Position.
7. double incremental encoders according to claim 6 measure absolute position device, which is characterized in that the initial mark
Definite value acquisition module includes：
Output valve acquisition module, for when motor side incremental encoder turns to calibration circle and generates zero pulse, obtaining defeated
Go out the reading value of side incremental encoder reading head；
Calibration value acquisition module increases for the reading value complementation of the outlet side incremental encoder reading head to be obtained outlet side
The initial alignment value of amount formula encoder.
8. double incremental encoders according to claim 6 measure absolute position device, which is characterized in that the number of turns is true
Cover half block includes：
Number of magnetic pole pairs acquisition module, for determining that current outlet side increment type is compiled according to the initial alignment value and practical calibration value
Number of magnetic pole pairs where code device；
Number of turns computing module, the place number of turns for calculating motor side incremental encoder according to the number of magnetic pole pairs.
9. a kind of computer equipment, including memory and processor, the memory are stored with computer program, feature exists
In when the processor executes the computer program the step of any one of realization claim 1 to 5 the method.
10. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the computer program
The step of method described in any one of claim 1 to 5 is realized when being executed by processor.
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| CN110986746A (en) * | 2019-12-27 | 2020-04-10 | 上海舞肌科技有限公司 | Output side absolute position detection method, output side absolute position detection device, speed reduction motor and storage medium |
| CN111197954A (en) * | 2019-12-27 | 2020-05-26 | 深圳市越疆科技有限公司 | Absolute position measuring method and device of machine, storage medium and machine |
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| TWI702772B (en) * | 2019-12-03 | 2020-08-21 | 東元電機股份有限公司 | External electrically powered device applied for incremental encoder and power supplying method thereof |
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| CN113746274A (en) * | 2021-08-23 | 2021-12-03 | 浙江锐鹰传感技术有限公司 | Motor using double incremental encoder and encoding method thereof |
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| CN115648230A (en) * | 2022-12-28 | 2023-01-31 | 广东美的制冷设备有限公司 | Control circuit of mechanical arm, mechanical arm and robot |
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| CN113746274A (en) * | 2021-08-23 | 2021-12-03 | 浙江锐鹰传感技术有限公司 | Motor using double incremental encoder and encoding method thereof |
| CN113765302A (en) * | 2021-08-23 | 2021-12-07 | 浙江锐鹰传感技术有限公司 | Motor using dual encoders and encoding method thereof |
| CN113746274B (en) * | 2021-08-23 | 2022-08-09 | 浙江锐鹰传感技术有限公司 | Motor using double incremental encoder and encoding method thereof |
| CN113765302B (en) * | 2021-08-23 | 2023-02-28 | 浙江锐鹰传感技术有限公司 | Motor using dual encoders and encoding method thereof |
| CN115648230A (en) * | 2022-12-28 | 2023-01-31 | 广东美的制冷设备有限公司 | Control circuit of mechanical arm, mechanical arm and robot |
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Effective date of registration: 20210908 Address after: 518103 workshop 601, building 3, Zhizao Center Park, No. 12, Chongqing Road, Heping community, Fuhai street, Bao'an District, Shenzhen, Guangdong Province Patentee after: Shenzhen Dazu robot Co.,Ltd. Address before: 518051 Dazu laser building, 9 new West Road, North Nanshan District high tech park, Shenzhen, Guangdong Patentee before: HAN'S LASER TECHNOLOGY INDUSTRY GROUP Co.,Ltd. Patentee before: Shenzhen Dazu robot Co.,Ltd. |