CN109341545A - A kind of absolute position displacement sensor grating absolute position encoder and interpretation method - Google Patents
A kind of absolute position displacement sensor grating absolute position encoder and interpretation method Download PDFInfo
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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
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
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- 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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Abstract
The invention discloses the absolute position encoder and interpretation method of a kind of absolute position displacement sensor grating, include the following steps: for the grating of absolute position encoder to be divided into N code channel, first is absolute code channel, remaining N-1 code channel is equidistant increment code channel；The absolute code channel is made of Gray code area, section code area (with or without) and mistake section code area (with or without)；The equidistant increment code channel includes the equidistant increment code channel of low level being evenly spaced on and high-order equidistant increment code channel；The equidistant increment code channel groove number of low level is equal to Gray's number of codes；The high-order equidistant increment code channel groove number can be as needed；Correspondence is encoded to " 1 " when the absolute code channel coding region light transmission of grating or reflected light are to photoelectric cell, and opaque or when reflected light does not arrive photoelectric cell, which corresponds to, is encoded to " 0 "；It is integrated when decoding by the position data that fpga chip reads each code channel.Present invention can ensure that the absolute position encoder within the scope of any code length is all unique.
Description
Technical field
The invention belongs to absolute position displacement transducer technology fields, and in particular to a kind of absolute position displacement sensor light
Grid absolute position encoder and interpretation method.
Background technique
Closed-loop direct position control program is mainstream in the application such as current high precision machines people, high-grade, digitally controlled machine tools
High-precision control scheme.Wherein, position displacement sensor is passed in high-precision closed-loop direct position control program
Sensor.It can be believed directly feedback current absolute location when powering on using the position displacement sensor of absolute position encoder grating
Breath does not need to confirm absolute position by way of returning to zero and finding absolute reference point.Therefore this kind of absolute position displacement sensing
Device has wider application range.
Common absolute position encoder decoded mode is mainly to use the volume of pseudo noise code in current position displacement sensor
Code decoding scheme (being mainly used in absolute grating ruler and absolute angle encoder) and the coding and decoding side for using multi-turn Gray code
Case (is mainly used in rotary encoder).The grating that absolute position encoder decoding is carried out using pseudo noise code is mostly metallic reflection formula
Grating generally has two code channels (an absolute code channel, an increment code channel), or for one absolutely with the mixing code channel of increment.
This kind of absolute grating using pseudo noise code coding is due to the corresponding absolute coding in each absolute position, it is ensured that longer-range
The accuracy of interior coding decoding, pseudo noise code coding are often complex.When therefore reaching high-precision and high-resolution, use
The absolute grating photoetching process difficulty of pseudo noise code coding is big.And optoelectronic scanning is carried out in sensor and reads grating line edge
Data when, due on grating code channel lack supplementary means carry out to coded data read carry out confirmation error correction, occur misreading position
The probability for setting coding is larger, this also limits the speed ability of encoder.Furthermore its subsequent decoding circuit, due to each exhausted
The pseudorandomcode of position is decoded, data processing amount is big, this just has the height of accuracy and speed to signal processing chip
It is required that being just able to satisfy the demand in practical application.And multi-turn Gray code is used to carry out absolute position encoder decoding scheme coding mode
It is relatively simple, but since code length is limited, it is not suitable for linear grating, is mainly used in Circular gratings.When Circular gratings needs reach
When to high-resolution, since the circle number of Gray code increases, Circular gratings code channel width is caused to increase, Circular gratings code channel Internal and external cycle is corresponding
The chord length difference of equal angular also increases accordingly.It as a result is first exactly that high-precision and high-resolution Circular gratings manufacture craft difficulty increase
Greatly, encoder volume is in addition also caused to increase.However in the application for thering is high-precision and high-resolution to require encoder often
Also there is stringent limitation along with to its installation space, translated which limits this kind of using multi-turn Gray code progress absolute position encoder
Application of the Circular gratings of code in high-precision requirement application field.Furthermore this kind of Circular gratings code channel width increase also cause into
The sensor shape needs of row optoelectronic scanning, which adjust accordingly, just can guarantee accurate reading position data.
Accordingly, it is now desired to the absolute position encoder and interpretation method of a kind of absolute position displacement sensor grating are designed,
So that its preparing grating technology difficulty is lower, optoelectronic scanning can be carried out to sensor and reads the data progress at grating line edge really
Recognize error correction, while being suitable for metallic reflection formula grating and glass transmission-type grating.
Summary of the invention
The shortcomings that it is a primary object of the present invention to overcome the prior art and deficiency, provide a kind of absolute position displacement sensing
The absolute position encoder and interpretation method of device grating can guarantee the absolute position within the scope of any code length through the invention
It is all unique for setting coding, while only needing a small amount of digit that can realize the coding within the scope of greater depth.
In order to achieve the above object, the invention adopts the following technical scheme:
A kind of absolute position encoder and interpretation method of absolute position displacement sensor grating, include the following steps:
The grating of absolute position encoder is divided into N code channel, first is absolute code channel, remaining N-1 code channel is equidistant
Increment code channel, N are the integer more than or equal to 2；
The absolute code channel is by Gray code area, section code area and crosses section code district's groups at wherein Gray code section length is greater than
0, the section code area is greater than or equal to 0 with section code section length is crossed；The Gray code area be located at absolute code channel inside or under
Side, by the bits of coded of multidigit Gray code relative to increment code channel groove longitudinal arrangement；
The equidistant increment groove quantity is equal with Gray's number of codes, and equidistant increment line width is equal to 0.5 times of Gray code
Length；The equidistant increment code channel includes the equidistant increment code channel of low level being evenly spaced on and high-order equidistant increment code channel；
The equidistant increment code channel groove number of low level is equal to Gray's number of codes, each equidistant increment code channel line width of low level
Equal to the half of Gray code width, i.e., each corresponding complete equidistant increment code channel groove cycling element of low level of Gray code；
The high-order equidistant increment code channel groove number is as needed, is set as M times of the equidistant increment code channel groove number of low level,
M is the integer more than or equal to 2, i.e., a high position for each corresponding corresponding complete integral multiple of the equidistant increment code channel groove cycling element of low level
Equidistant increment carves code channel line cycling element；
Correspondence is encoded to " 1 " when the absolute code channel coding region light transmission of grating or reflected light are to photoelectric cell, opaque or not
Correspondence is encoded to " 0 " when reflected light is to photoelectric cell；
It is integrated when decoding by the position data that fpga chip reads each code channel.
The Gray code area of the absolute code channel is 10 gray encodings as a preferred technical solution,；For smaller straight
The Circular gratings of diameter, Gray code area include 1024 10 gray encodings；It is straight according to Circular gratings for larger-diameter Circular gratings
Diameter, the setting of Gray code area include 10 gray encoding cycling elements of binary multiple, and each complete gray encoding follows
Ring element include 1024 10 gray encodings, gray encoding cycling element by identical gray encoding put in order into
Row circulation；
For linear grating, each Gray's code length 0.25mm, each completely gray encoding cycling element includes
1024 10 gray encodings, gray encoding cycling element put in order by identical gray encoding and are recycled, followed
Ring element length is 256mm；
Between 10 gray encodings of each of gray encoding cycling element and 10 adjacent gray encodings only
There is the difference of a gray encoding；And first 10 gray encoding in gray encoding cycling element and the last one
Also there was only the difference of a gray encoding between 10 gray encodings.
As a preferred technical solution, when section code section length is not 0, section code area is located on the outside of Gray code area
Or upside, when needing to carry out larger diameter Circular gratings or long length linear grating encodes, section code can be set as 2-8, area
Between code be up to 256, at this time as the code length of the absolute code channel of linear grating is up to 65536mm；It is longer when needing to carry out
When the coding of length, it is arranged to 8 or more section codes；The bits of coded for setting digit section code is vertical relative to increment code channel groove
To arrangement；Than one short Gray's code length of complete gray encoding cycling element length of single section code length, adjacent two
1 times of Gray code length distance of a section code interval；Single section code initial position and Gray code coding cycle unit first
Gray code midline position is longitudinally-aligned, section code final position and the last one Gray code middle line position of Gray code coding cycle unit
It sets longitudinally-aligned.
Described when crossing section code section length and being greater than 0 as a preferred technical solution, this is crossed section code area and is located at section yard area
Outside or upside；When needing to carry out larger diameter Circular gratings or long length linear grating encodes, 2-8 can be set as by crossing section code
Position, or more multidigit is set according to actual demand, digit is identical as section code bit number, and quantity is equal with section number of codes；Set position
The bits of coded of section code was counted relative to increment code channel groove longitudinal arrangement；3 times that section code length is equal to Gray's code length are crossed,
Groove line of demarcation between center line and two neighboring gray encoding cycling element is longitudinally-aligned, respectively extends 1.5 times to two sides
Gray's code length.
The region for crossing section code area in addition to crossing section code and previous Gray code are compiled as a preferred technical solution,
The 10th bits of coded in several Gray codes of code bit cycling element most end forms radix-minus-one complement；When in several Gray codes of most end
The 10th bits of coded be arranged to light transmission or can reflected light when, cross section code area except cross section code in addition to region be set as impermeable
Light or non-reflected light；When the 10th bits of coded in several Gray codes of most end is arranged to opaque or not reflected light, mistake
Region of the section code area in addition to crossing section code is set as light transmission or can reflected light.
The Article 2 code channel of the grating is the equidistant increment code channel of low level as a preferred technical solution, and equidistant increment is carved
The initial position of line and 10 gray encoding groove initial positions are longitudinally-aligned, two adjacent equidistant increment groove spacing distances
It is equal with line width, it is all 0.5 times of Gray's code length.
As a preferred technical solution, as N > 2, the grating has Article 3 code channel, when needing to obtain high-resolution position
When confidence, the Article 3 code channel of grating is set as high-order equidistant increment code channel, the equidistant increment groove of high-order equidistant increment code channel
Quantity is the integral multiple of the equidistant increment groove quantity of the equidistant increment code channel of low level；The equidistant increment groove of high-order equidistant increment code channel
Initial position and 10 gray encoding groove initial positions are longitudinally-aligned；Two adjacent high-order equidistant increment groove spacing distances
It is equal with line width, it is Gray's code length divided by the high-order equidistant equidistant increment groove quantity of increment code channel relative to low
The integer multiple of the equidistant increment groove quantity of the equidistant increment code channel in position.
It is described as a preferred technical solution, the absolute code channel light transmission of grating to be arrived by linear imaging sensor or reflected light
Induction correspondence is encoded to " 1 " when to the region of sensor, to it is opaque or not reflected light to the corresponding volume of the region of sensor induction
Code is " 0 "；10 gray encodings of each of grating Gray's code channel from be located at absolute code channel the most marginal lattice in inside or downside
It is position encoded first that thunder code bits of coded, which is included in, on the outside of the Gray code area or most marginal gray encoding position in upside be included in for
Position encoded the tenth；When need to carry out larger diameter Circular gratings or long length linear grating encoding setting section code and mistake
Section code when, coding be also from section code area and cross section code area on the inside of or the most marginal bits of coded in downside be included in respectively as section
Code and cross section code first, section code area and cross section code area on the outside of or the most marginal bits of coded in upside be included in respectively as area
Between code and cross section code last position；Final absolute code coding permutations sequence are as follows: Gray code+section code+crosses section code；Work as line
Property imaging sensor not when crossing section code region, Gray code+section code is all determining signal, at this time FPGA only with Gray code+
The coded combination of section code determines absolute code channel position；When linear imaging sensor is crossing section code region, but do not enter also
When the region of adjacent interval code interval, FPGA is at this time with Gray code+section code+crosses the coded combination of section code to determine absolute code
Road position, instruction will enter section code region of variation；When linear imaging sensor enters the region of adjacent interval code interval, by
In section, code exists uncertain, and FPGA only determines absolute code channel position with the coded combination in Gray code+mistakes section yard at this time；
Ensure in long length absolute position encoder, when absolute code channel any position is moved to next position, all only have in this way
One bits of coded can change, and guarantee the accuracy of decoding.
It is described as a preferred technical solution, to increase by the way that special chip is equidistant to the equidistant increment code channel of low level respectively and a high position
The sinusoidal signal that amount code channel is generated by optoelectronic scanning carries out signal period counting number and signal segments in the period, according to required point
The subdivision multiple of desired signal is arranged in resolution.
As a preferred technical solution, it is described by FPGA by the encoded signal of the absolute code channel in current any position, with
And the equidistant increment code channel of low level and the subdivision's signal of high-order equidistant increment code channel are integrated, encoded signal sequence are as follows: absolutely volume
It is counted in code+subdivision's signal periodicity+subdivision's signal period, so that the nothing for completing the unique absolute coding in current any position is miscoded
Code decoding feeds back current absolute location signal to control system.
Compared with the prior art, the invention has the following advantages and beneficial effects:
It, can be with 1. absolute code channel coding is using Gray code area+section code area+mistakes section code district's groups conjunction form in the present invention
It is unique for guaranteeing the absolute position encoder within the scope of any code length all, while only needing a small amount of digit that can realize
Coding within the scope of greater depth.
2. in the present invention between adjacent Gray code only one bits of coded difference, while the section section Ma Heguo code area
Setting the location information between two gray encoding cycling elements can be accurately read with auxiliary coder, prevent from misreading position
Signal.And it can guarantee that encoder is read to be not in while having two when reading next absolute position encoder of any position
A bits of coded changes, and to prevent there are excessive photosignal amplitude fluctuations, position signal is misread in initiation.
3. absolutely code channel coding mode of the invention is simpler, grid photo-etching technology difficulty is reduced, extensive life is conducive to
Preparing grating precision is improved in production.
4. the present invention is combined using absolute code channel and increment code channel, it is possible to reduce absolute position signal data to be treated
Amount, then the speed ability for being conducive to improve encoder to induction signal is handled by sensor special chip and subdivision chip respectively.
5. absolute position encoder mode of the present invention is suitable for various transmission-types or reflective linear grating and Circular gratings.
Detailed description of the invention
Fig. 1 is linear grating coding schematic diagram of the invention；
Fig. 2 is Circular gratings coding schematic diagram of the invention；
Fig. 3 is present invention decoding process schematic.
Description of symbols: 1, absolute code channel；2, the equidistant increment code channel of low level；3, high-order equidistant increment code channel；11, Gray
Code area；12, section code area；13, section code area is crossed；111, the first bits of coded of Gray code；112, the tenth bits of coded of Gray code；113,
10th bits of coded of the last several Gray codes of gray encoding cycling element；121, first interval code；122, second interval code；
131, section code is crossed；132, it crosses section code area and removed section code with exterior domain；4, chip is segmented；5, fpga chip；6, linear graph
As sensor；7, optoelectronic scanning receiving element.
Specific embodiment
Present invention will now be described in further detail with reference to the embodiments and the accompanying drawings, but embodiments of the present invention are unlimited
In this.
Embodiment 1
As shown in Fig. 2, the present embodiment a kind of absolute position encoder and interpretation method of absolute position displacement sensor grating
In, the Circular gratings absolute position encoder of small diameter is divided into 3 code channels, and first is absolute code channel 1, the second code channel, third yard
Road is equidistant increment code channel.Absolute code channel 1 is made of Gray code area 11.Article 2 code channel is the equidistant increment code channel 2 of low level, low level
Equidistant 2 groove number of increment code channel is equal to Gray's number of codes, and each equidistant 2 line width of increment code channel of low level is equal to a Gray code
The half of width, i.e., each corresponding complete equidistant 2 groove cycling element of increment code channel of low level of Gray code.Article 3 code channel is
High-order equidistant increment code channel 3, high-order equidistant 3 groove number of increment code channel are 64 times of the equidistant increment code channel groove number of low level.It is i.e. every
The complete high-order equidistant 3 groove cycling element of increment code channel of corresponding 64 of a equidistant 2 groove cycling element of increment code channel of low level.Light
Corresponding coding when the absolute code channel coding region light transmission of grid or reflected light are to linear imaging sensor 6 or optoelectronic scanning receiving element 7
It is opaque or correspondence is encoded to " 0 " when reflected light is not to linear imaging sensor 6 or optoelectronic scanning receiving element 7 for " 1 ".It translates
It is integrated when code by the position data that fpga chip 5 reads each code channel.
The Gray code area 11 of the absolute code channel 1 is 10 gray encodings, positioned at the inside of absolute code channel 1.10 cases
The bits of coded of thunder code is relative to increment code channel groove longitudinal arrangement.Gray code area 11 includes 1024 10 gray encodings.Often
There was only the difference of a gray encoding between a 10 gray encodings and 10 adjacent gray encodings.And Gray code is compiled
Also there was only a Gray between first 10 gray encoding and the last one 10 gray encoding in code cycling element
The difference of code coding.It is not in excessive photosignal amplitude wave when can guarantee the continuous reading position data of encoder in this way
It is dynamic, position signal is misread to prevent causing.
The Article 2 code channel of the Circular gratings is the equidistant increment code channel 2 of low level, the groove quantity of the equidistant increment code channel 2 of low level
It is equal with Gray's number of codes, equidistant increment line width be equal to 0.5 times of Gray's code length, the initial position of equidistant increment groove with
10 gray encoding groove initial positions are longitudinally-aligned.Two adjacent equidistant increment groove spacing distances and line width phase
Deng being all 0.5 times of Gray's code length.
The Article 3 code channel of the Circular gratings is set as high-order equidistant increment code channel 3, high-order equidistant 3 groove number of increment code channel
Amount is 64 times of the equidistant 2 groove quantity of increment code channel of low level.The initial position of high-order equidistant 3 groove of increment code channel and 10 Grays
Code coding groove initial position is longitudinally-aligned.Two adjacent high-order equidistant 3 groove spacing distances of increment code channel and a high position equidistantly increase
It is equal to measure 3 line width of code channel, is the 1/64 of Gray's code length.
It is described the absolute code channel light transmission of grating to be arrived by linear imaging sensor 6 or reflected light is to linear imaging sensor 6
When induction correspondence be encoded to " 1 ", to it is opaque or not reflected light arrive linear imaging sensor 6 when induction correspond to be encoded to " 0 ".Light
10 gray encodings of each of grid thunder code channel from be located at absolute code channel 1 the most marginal gray encoding position in inside be included in for
The first bits of coded of Gray code 111, the 11 most marginal gray encoding position in outside of Gray code area are included in as the tenth bits of coded of Gray code
112.Absolutely absolute coding is as shown in table 1 from left to right for code channel as shown in Figure 2:
Table 1
Further, third code channel (high-order equidistant increment code channel 3) is generated through optoelectronic scanning by dedicated subdivision chip 4
Sinusoidal signal carry out signal subdivision in signal period counting number and 8192 doubling times, and by dedicated subdivision chip 4 to second
Code channel (the equidistant increment code channel 2 of low level) carries out signal period counting number and 64 doubling times by the sinusoidal signal that optoelectronic scanning generates
Interior signal subdivision, so final resolution ratio of encoder can reach 29.
As shown in figure 3, it is described by FPGA by the absolute coding signal of the absolute code channel 1 in current any position, Yi Ji
The subdivision's signal of two code channels (the equidistant increment code channel 2 of low level) and third code channel (high-order equidistant increment code channel 3) is integrated, finally
Encoded signal sequence are as follows: counted in absolute coding+subdivision's signal periodicity+subdivision's signal period.To complete current any position
The error-free coding decoding for setting unique absolute coding, feeds back current absolute location signal to control system.
Embodiment 2
As shown in Figure 1, the present embodiment a kind of absolute position encoder and interpretation method of absolute position displacement sensor grating,
Linear grating absolute position encoder is divided into 3 code channels, and first is absolute code channel 1, and the second code channel, third code channel are equidistant increment
Code channel.Absolute code channel 1 is made of Gray code area 11, section code area 12 and mistake section code area 13.Article 2 code channel is that low level is equidistant
Increment code channel 2, the equidistant 2 groove number of increment code channel of low level are equal to Gray's number of codes, each equidistant 2 line width of increment code channel of low level
Equal to the half of Gray code width, i.e., each corresponding complete equidistant 2 groove cycling element of increment code channel of low level of Gray code.The
Three code channels are high-order equidistant increment code channel 3, and high-order equidistant 3 groove number of increment code channel is set as low level equidistant 2 quarter of increment code channel
32 times of line number.Corresponding 32 of i.e. each equidistant 2 groove cycling element of increment code channel of low level complete high-order equidistant 3 quarter of increment code channel
Line cycling element.Correspondence is encoded to " 1 " when the absolute 1 coding region light transmission of code channel of grating or reflected light are to photoelectric cell, opaque
Or not when reflected light is to photoelectric cell correspondence is encoded to " 0 ".The positional number that each code channel is read by fpga chip 5 when decoding
According to being integrated.
The Gray code area 11 of the absolute code channel 1 is 10 gray encodings, positioned at the downside of absolute code channel 1.10 cases
The bits of coded of thunder code is relative to increment code channel groove longitudinal arrangement.Each Gray's code length 0.25mm, each complete Gray code
Coding cycle unit includes 1024 10 gray encodings, and gray encoding cycling element is arranged by identical gray encoding
Sequence is recycled, and cycling element length is 256mm.10 gray encodings of each of gray encoding cycling element and phase
There was only the difference of a gray encoding between 10 adjacent gray encodings.And first in gray encoding cycling element
Also there was only the difference of a gray encoding between 10 gray encodings and the last one 10 gray encoding.It in this way can be with
Be not in excessive photosignal amplitude fluctuations when guaranteeing the continuous reading position data of encoder, misread position letter to prevent causing
Number.
Section code area 12 is located at 11 upside of Gray code area.Section code can be set as 4,16 sections settable in this way
Code, code length are at maximum up to 4096mm.The bits of coded of 4 section codes is relative to increment code channel groove longitudinal arrangement.Single area
Between than one short Gray's code length of complete gray encoding cycling element length of code length, two neighboring section the firstth area of code
Between code 121, second interval code 122 be spaced a Gray code length distance.122 initial position of second interval code and gray encoding
First Gray code midline position of cycling element is longitudinally-aligned, 121 final position of second interval code and Gray code coding cycle list
The last one first Gray code midline position is longitudinally-aligned.In this way can be when encoder read next section code position, it will not
Occur while there are two bits of coded (i.e. a gray encoding position and a section code bits of coded) to change, to prevent occurring
Position signal is misread in big photosignal amplitude fluctuations, initiation.
The section code area 13 of crossing is located at 12 upside of section code area.Can be set as by crossing section code by 4, digit and section code bit number
Identical, quantity is equal with section number of codes.4 are crossed the bits of coded of section code relative to increment code channel groove longitudinal arrangement.Cross area
Between 131 length of code be equal to 3 times of Gray's code length, the groove between center line and two neighboring gray encoding cycling element point
Boundary line is longitudinally-aligned, respectively extends 1.5 times of Gray's code lengths to two sides.So next section code can be read in encoder
Before recognize and will carry out the reading of section code signal, and Gray's code length vacancy between the code groove of two neighboring section
Continue correct reading position information, while being not in again while there are two bits of coded (i.e. a gray encoding position and one
Section code bits of coded or a gray encoding position and one cross section code bits of coded or one is crossed section code bits of coded
With a section code bits of coded) it changes, to prevent there are excessive photosignal amplitude fluctuations, position signal is misread in initiation.
The region 132 that section code area is crossed in addition to crossing section code and previous gray encoding position cycling element most end
The 10th bits of coded 113 in several Gray codes of tail forms radix-minus-one complement.When the 10th coding in several Gray codes of most end
Position 113 be arranged to it is opaque or not reflected light when, cross region 132 of the section code area in addition to crossing section code and be set as light transmission or can
Reflected light.
The Article 2 code channel of the linear grating is the equidistant increment code channel 2 of low level, the equidistant 2 groove quantity of increment code channel of low level
Equal with Gray's number of codes, equidistant 2 line width of increment code channel of low level is equal to 0.5 times of Gray's code length, the equidistant incremental code of low level
The initial position of 2 groove of road and 10 gray encoding groove initial positions are longitudinally-aligned.Two adjacent equidistant incremental codes of low level
2 groove spacing distance of road is equal with line width, is all 0.5 times of Gray's code length.
The Article 3 code channel of the linear grating is set as high-order equidistant increment code channel 3, high-order equidistant 3 groove of increment code channel
Quantity is 32 times of the equidistant 2 groove quantity of increment code channel of low level.The initial position of high-order equidistant 3 groove of increment code channel and 10 lattice
It is longitudinally-aligned that thunder code encodes groove initial position.Two adjacent high-order equidistant 3 groove spacing distances of increment code channel and a high position are equidistant
3 line width of increment code channel is equal, is the 1/32 of Gray's code length.
It is described 1 light transmission of the absolute code channel of grating to be arrived by linear imaging sensor 6 or reflected light is to linear imaging sensor 6
When induction correspondence be encoded to " 1 ", to it is opaque or not reflected light to sensor region induction correspond to be encoded to " 0 ".Raster grid
10 gray encodings of each of thunder code channel are included in from the most marginal gray encoding position in downside for being located at absolute code channel as position
First of coding, it is position encoded the tenth that the most marginal gray encoding position in Gray code area upside, which is included in,.Section code and
Crossing section code is also to be included in respectively from section code area with most marginal bits of coded on the downside of the code area of section is crossed as the section section Ma Heguo
First of code, section code area are included in respectively with most marginal bits of coded on the upside of the code area of section is crossed as the section section Ma Heguo code
Last position.Final absolute code coding permutations sequence are as follows: Gray code+section code+crosses section code.When linear imaging sensor does not exist
When crossing section code region, Gray code+section code is all determining signal, and FPGA is only with Gray code+section code coded combination at this time
To determine absolute code channel position；When linear imaging sensor is crossing section code region, but adjacent interval code interval is not entered also
When region, FPGA is at this time with Gray code+section code+crosses the coded combination of section code to determine absolute code channel position, and instruction will be into
Enter section code region of variation；When linear imaging sensor enters the region of adjacent interval code interval, since section code exists not
Certainty, FPGA only determines absolute code channel position with the coded combination of Gray code+mistakes section yard at this time.Ensure in this way longer
When length absolute position encoder, when absolute code channel any position is moved to next position, all only one bits of coded can be sent out
Changing guarantees the accuracy of decoding.
Absolutely absolute coding is as shown in table 2 from left to right for code channel as shown in Figure 1:
Table 2
The sinusoidal signal that third code channel (high-order equidistant increment code channel 3) is generated through optoelectronic scanning by dedicated subdivision chip
Signal subdivision in signal period counting number and 8192 doubling times is carried out, and by dedicated subdivision chip to the second code channel (low level etc.
Away from increment code channel 2) signal segments in the sinusoidal signal progress signal period counting number of optoelectronic scanning generation and 32 doubling times, this
The final resolution ratio of sample encoder can reach 1nm.
As shown in figure 3, it is described by fpga chip 5 by the absolute coding signal of the absolute code channel 1 in current any position, with
And second the subdivision's signal of code channel (the equidistant increment code channel 2 of low level) and third code channel (high-order equidistant increment code channel 3) integrated,
Encoded signal sequence are as follows: counted in absolute coding+subdivision's signal periodicity+subdivision's signal period.To complete current any position
The error-free coding decoding for setting unique absolute coding, feeds back current absolute location signal to control system.
The above embodiment is a preferred embodiment of the present invention, but embodiments of the present invention are not by above-described embodiment
Limitation, other any changes, modifications, substitutions, combinations, simplifications made without departing from the spirit and principles of the present invention,
It should be equivalent substitute mode, be included within the scope of the present invention.
Claims (10)
1. a kind of absolute position encoder and interpretation method of absolute position displacement sensor grating, which is characterized in that including following
Step:
The grating of absolute position encoder is divided into N code channel, first is absolute code channel, remaining N-1 code channel is equidistant increment
Code channel, N are the integer more than or equal to 2；
The absolute code channel is by Gray code area, section code area and crosses section code district's groups at wherein Gray code section length is greater than 0, institute
It states section code area and crosses section code section length and be greater than or equal to 0；The Gray code area is located at the inside or downside of absolute code channel, by
The bits of coded of multidigit Gray code is relative to increment code channel groove longitudinal arrangement；
The equidistant increment groove quantity is equal with Gray's number of codes, and equidistant increment line width is equal to 0.5 times of Gray's code length；
The equidistant increment code channel includes the equidistant increment code channel of low level being evenly spaced on and high-order equidistant increment code channel；
The equidistant increment code channel groove number of low level is equal to Gray's number of codes, and each equidistant increment code channel line width of low level is equal to
The half of Gray code width, i.e., each corresponding complete equidistant increment code channel groove cycling element of low level of Gray code；
The high-order equidistant increment code channel groove number is as needed, is set as M times of the equidistant increment code channel groove number of low level, M is
Integer more than or equal to 2, i.e., a high position etc. for each corresponding corresponding complete integral multiple of the equidistant increment code channel groove cycling element of low level
Code channel line cycling element is carved away from increment；
Correspondence is encoded to " 1 " when the absolute code channel coding region light transmission of grating or reflected light are to photoelectric cell, opaque or do not reflect
Correspondence is encoded to " 0 " when light is to photoelectric cell；
It is integrated when decoding by the position data that fpga chip reads each code channel.
2. the absolute position encoder and interpretation method of absolute position displacement sensor grating according to claim 1, feature
It is, the Gray code area of the absolute code channel is 10 gray encodings；For the Circular gratings of small diameter, Gray code area includes
1024 10 gray encodings；For larger-diameter Circular gratings, according to Circular gratings diameter, the setting of Gray code area comprising two into
10 gray encoding cycling elements of multiple processed, each complete gray encoding cycling element includes 1024 10 Grays
Code coding, gray encoding cycling element put in order by identical gray encoding and are recycled；
For linear grating, each Gray's code length 0.25mm, each complete gray encoding cycling element includes 1024
10 gray encodings, gray encoding cycling element put in order by identical gray encoding and are recycled, cycling element
Length is 256mm；
There was only one between 10 gray encodings of each of gray encoding cycling element and 10 adjacent gray encodings
The difference of position gray encoding；And first 10 gray encoding in gray encoding cycling element with the last one 10
Also there was only the difference of a gray encoding between gray encoding.
3. the absolute position encoder and interpretation method of absolute position displacement sensor grating according to claim 1, feature
It is, when section code section length is not 0, section code area is located on the outside of Gray code area or upside, larger when needing to carry out
When diameter Circular gratings or long length linear grating encode, section code can be set as 2-8, and section code is up to 256, at this time such as
The code length of the absolute code channel of linear grating is up to 65536mm；When needing to carry out greater length of coding, it is arranged to 8
Above section code；The bits of coded of digit section code is set relative to increment code channel groove longitudinal arrangement；Single section code length
Than the one short Gray's code length of complete gray encoding cycling element length, two neighboring 1 times of Gray of section code interval
Code length distance；The first Gray code midline position in single section code initial position and Gray code coding cycle unit is longitudinally right
Together, the last one Gray code midline position is longitudinally-aligned with Gray code coding cycle unit for section code final position.
4. according to claim 1 or the absolute position encoder and interpretation method of the 3 absolute position displacement sensor gratings, special
Sign is, described when crossing section code section length and being greater than 0, this is crossed section code area and is located at section code area outside or upside；When need into
When row larger diameter Circular gratings or long length linear grating encode, can be set as by crossing section code by 2-8, or be set according to actual demand
More multidigit is set, digit is identical as section code bit number, and quantity is equal with section number of codes；Setting digit crosses the bits of coded phase of section code
For increment code channel groove longitudinal arrangement；Cross 3 times of section code length equal to Gray's code length, center line and two neighboring Gray
Groove line of demarcation between code coding cycle unit is longitudinally-aligned, respectively extends 1.5 times of Gray's code lengths to two sides.
5. the absolute position encoder and interpretation method of absolute position displacement sensor grating according to claim 4, feature
It is, region of the code area of section excessively in addition to crossing section code is several with previous gray encoding position cycling element most end
The 10th bits of coded in a Gray code forms radix-minus-one complement；When the 10th bits of coded in several Gray codes of most end is arranged to
Light or can reflected light when, cross region of the section code area in addition to crossing section code and be set as opaque or not reflected light；Work as most end
Several Gray codes in the 10th bits of coded be arranged to it is opaque or not reflected light when, cross section code area except cross section code in addition to
Region be set as light transmission or can reflected light.
6. the absolute position encoder and interpretation method of absolute position displacement sensor grating according to claim 1, feature
It is, the Article 2 code channel of the grating is the equidistant increment code channel of low level, the initial position of equidistant increment groove and 10 Grays
Code coding groove initial position is longitudinally-aligned, and it is all 0.5 that two adjacent equidistant increment groove spacing distances are equal with line width
Times Gray's code length.
7. the absolute position encoder and interpretation method of absolute position displacement sensor grating according to claim 1, feature
It is, as N > 2, the grating has Article 3 code channel, when needing to obtain high-resolution position signal, the Article 3 of grating
Code channel is set as high-order equidistant increment code channel, and the high-order equidistant equidistant increment groove quantity of increment code channel is the equidistant increment code channel of low level
The integral multiple of equidistant increment groove quantity；It is compiled with 10 Gray codes the initial position of the equidistant increment groove of high-order equidistant increment code channel
Code groove initial position is longitudinally-aligned；Two adjacent high-order equidistant increment groove spacing distances are equal with line width, are one
A Gray's code length equidistantly increases divided by the high-order equidistant equidistant increment groove quantity of increment code channel relative to the equidistant increment code channel of low level
Measure the integer multiple of groove quantity.
8. the absolute position encoder and interpretation method of absolute position displacement sensor grating according to claim 1, feature
It is, it is described the absolute code channel light transmission of grating to be arrived by linear imaging sensor or induction pair when reflected light is to the region of sensor
" 1 " should be encoded to, to it is opaque or not reflected light to sensor region induction correspondence be encoded to " 0 "；Grating Gray's code channel
Each 10 gray encodings are included in from the most marginal gray encoding position in inside or downside for being located at absolute code channel as position volume
It is position encoded the tenth that first of code, Gray code area outside or the most marginal gray encoding position in upside, which are included in,；When need
When carrying out larger diameter Circular gratings or the long length linear grating encoding setting section section Ma Heguo code, coding is also from area
The area Jian Ma and cross section code area on the inside of or the most marginal bits of coded in downside be included in respectively be the section section Ma Heguo code first,
Section code area and cross section code area on the outside of or the most marginal bits of coded in upside be included in respectively for the section section Ma Heguo code it is last
One；Final absolute code coding permutations sequence are as follows: Gray code+section code+crosses section code.When the area linear imaging sensor Bu Guo
Between code region when, Gray code+section code is all determining signal, and FPGA is only come with Gray code+section code coded combination true at this time
Fixed absolute code channel position；When linear imaging sensor is crossing section code region, but the region of adjacent interval code interval is not entered also
When, FPGA is at this time with Gray code, and+section code+crosses the coded combination of section code to determine absolute code channel position, and instruction will enter area
Between code region of variation；When linear imaging sensor enters the region of adjacent interval code interval, do not known since section code exists
Property, FPGA only determines absolute code channel position with the coded combination of Gray code+mistakes section yard at this time；Ensure in this way in long length
When absolute position encoder, when absolute code channel any position is moved to next position, all only one bits of coded can become
Change, guarantees the accuracy of decoding.
9. the absolute position encoder and interpretation method of absolute position displacement sensor grating according to claim 1, feature
It is, it is described that the equidistant increment code channel of low level respectively and high-order equidistant increment code channel are generated by optoelectronic scanning by special chip
Sinusoidal signal carry out signal period counting number and in the period signal segment, according to required resolution ratio, the thin of desired signal is set
Divide multiple.
10. the absolute position encoder and interpretation method of absolute position displacement sensor grating according to claim 9, feature
Be, it is described by FPGA by the encoded signal of the absolute code channel in current any position and the equidistant increment code channel of low level and height
The subdivision's signal of the equidistant increment code channel in position is integrated, encoded signal sequence are as follows: absolute coding+subdivision's signal periodicity+subdivision
It counts in signal period, to complete the error-free coding decoding of the unique absolute coding in current any position, is fed back to control system
Current absolute location signal.
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| CN111076760B (en) * | 2019-12-25 | 2021-08-10 | 洛阳伟信电子科技有限公司 | Method for correcting coarse code of absolute code disc |
| CN111412940B (en) * | 2020-05-08 | 2021-11-23 | 长春晟博光学技术开发有限公司 | Automatic debugging system and debugging method for subdivision chip of linear displacement sensor |
| CN113686365B (en) * | 2021-09-02 | 2022-06-17 | 北京精雕科技集团有限公司 | Absolute position measuring device |
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| CN1157589C (en) * | 2000-01-25 | 2004-07-14 | 中国科学院光电技术研究所 | Circular grating absolute coding metering method |
| DE10244547B4 (en) * | 2002-09-25 | 2010-11-11 | Dr. Johannes Heidenhain Gmbh | Method and position measuring device for determining an absolute position |
| JP2007071732A (en) * | 2005-09-07 | 2007-03-22 | Fuji Electric Holdings Co Ltd | Absolute value encoder of optical type |
| DE102011109269B3 (en) * | 2011-08-03 | 2012-11-29 | Maschinenfabrik Reinhausen Gmbh | Position-reporting arrangement |
| CN102645167A (en) * | 2012-05-04 | 2012-08-22 | 中国科学院长春光学精密机械与物理研究所 | Absolute displacement measuring device |
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