CN110081838A - Image-type angle displacement measuring device - Google Patents
Image-type angle displacement measuring device Download PDFInfo
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- CN110081838A CN110081838A CN201910466999.1A CN201910466999A CN110081838A CN 110081838 A CN110081838 A CN 110081838A CN 201910466999 A CN201910466999 A CN 201910466999A CN 110081838 A CN110081838 A CN 110081838A
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- processing circuit
- line scan
- image sensor
- image data
- measuring device
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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
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
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- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a kind of image-type angle displacement measuring device, it includes bracket, grating disc and processing circuit, is separately installed with source of parallel light and line scan image sensor on bracket, and source of parallel light and line scan image sensor are formed to penetrating；The identification region of grating disc is between source of parallel light and line scan image sensor；Processing circuit is connect with line scan image sensor signal；Wherein, the directional light that source of parallel light issues is irradiated to identification region, and then will be in the pattern Mapping to line scan image sensor of identification region；Line scan image sensor is suitable for acquiring the image data of the pattern of mapping on it and feeds back to processing circuit；The processing circuit is suitable for exporting its received image data, or calculates angular displacement according to image data and export.The present invention exports the displacement identification image of grating disc in which can be convenient, and replaces Moire fringe phase information with pixel grey scale information, it is easier to realize high-resolution and high-precision angle displacement measurement.
Description
Technical field
The present invention relates to a kind of image-type angle displacement measuring devices, are related to photoelectric displacement field of precision measurement.
Background technique
Traditional photovoltaic angle displacement measuring device generates More's item using the relative motion for demarcating grating and indication grating
Line photosignal obtains the current angular displacement of calibration grating by the calculating to Moire fringe photosignal phase value.But it is this
The angle displacement measurement performance of mode is difficult to meet actual demand.
Summary of the invention
The technical problem to be solved by the present invention is to overcome the deficiencies of existing technologies, a kind of image-type angle displacement measurement is provided
Device, it exports the displacement identification image of grating disc in which can be convenient, and replaces Moire fringe phase information with pixel grey scale information,
More easily realize high-resolution and high-precision angle displacement measurement.
In order to solve the above-mentioned technical problem, the technical scheme is that a kind of image-type angle displacement measuring device, it is wrapped
It includes:
Bracket is separately installed with source of parallel light and line scan image sensor, source of parallel light and linear array images on the bracket
Sensor is formed to penetrating；
It is connect with determinand and with the grating disc that determinand is rotated around its center of circle, the identification region of the grating disc is located at flat
Between line light source and line scan image sensor；
Processing circuit, the processing circuit are connect with the line scan image sensor signal；Wherein,
The directional light that the source of parallel light issues is irradiated to identification region, and then by the pattern Mapping of identification region to linear array
On imaging sensor；
The line scan image sensor is suitable for acquiring the image data of the pattern of mapping on it and feeds back to processing circuit；
The processing circuit is suitable for exporting its received image data, or calculates angular displacement and defeated according to image data
Out.
A kind of specific structure of source of parallel light is further provided, the source of parallel light includes point light source and convex lens, institute
It states point light source and convex lens is separately mounted on bracket, the point light source is located at the focal point of convex lens, and then passes through convex lens
The light that point light source issues is become into directional light.
It powers further for convenient for point light source, the processing circuit and point light source are electrically connected, the processing circuit
It is further adapted to point light source power supply.
The distance between line scan image sensor and grating disc are adjusted further for facilitating, and then facilitates imaging, it is described
Bracket includes top tray, lower tray and support arm, and the source of parallel light is mounted in lower tray, the line scan image sensor peace
In top tray, the lower tray is fixedly connected with the lower end of the support arm, and the top tray is liftably sleeved on
The upper end of support arm is provided between the top tray and support arm and is elevated to conjunction with respect to grating disc in line scan image sensor
Right position postpones the locking mechanism for locking top tray.
A kind of specific structure of locking mechanism is further provided, the locking mechanism includes locking bolt, the pop-up
It is provided with sliding slot on disk, is provided with bolt hole on the support arm, the locking bolt passes through sliding slot back spin into bolt hole, with
Will pass through screwing bolts abuts bolt with sliding slot to lock top tray.
Further for conveniently know line scan image sensor acquisition image data whether be grating disc identification region
The image data of pattern, image-type angle displacement measuring device further include connecting with the processing circuit signal and being used to indicate line
Array image sensor acquisition image data whether be grating disc identification region pattern image data indicator light.
Further for the connection for facilitating image-type angle displacement measuring device and external equipment, image-type angle displacement measurement dress
Setting further includes the connector being connected with the processing circuit.
Further, the connector is connected by transmission cable with the processing circuit.
Further, the processing circuit be suitable for export its received image data, the connector include counting circuit and
Plug, the counting circuit are connect with the processing circuit signal, and the plug is connected with the counting circuit；Wherein,
The counting circuit is suitable for the image data of receiving processing circuit transmission, and calculates angular displacement according to image data
Amount；
The plug is suitable for connecting with external equipment, and then facilitates counting circuit to external equipment angle displacement amount.
Further, the connector has cavity, and the counting circuit is mounted in cavity, and at least one of the plug
Divide and exposes cavity.
After above-mentioned technical proposal, directional light irradiates the identification region of grating disc, and the pattern of identification region is reflected
It is mapped on line scan image sensor, and then realizes the imaging to identification region on grating disc, processing circuit receives linear array images and passes
Sensor acquired image data, and image data is transferred out, user carries out angular displacement further according to the image data of transmission
Identification calculate or processing circuit angular displacement is directly calculated according to image data and is exported, the present invention can be convenient ground
The displacement identification image of grating disc is obtained, Moire fringe phase information is replaced with pixel grey scale information, it is easier to realize high-resolution
Rate and high-precision angle displacement measurement facilitate industrial automation and its equipment to obtain high-precision angular displacement information；Of the invention
Image-type angle displacement measuring device is integrated device, when in use, does not need additional designs system frame or placement element, tool
Have the advantages that small in size, measurement accuracy is high, installation is simple, easy to use；The present invention also has indicator light, be convenient for measuring personnel and
Shi Zhixiao line scan image sensor acquisition image data whether be grating disc identification region pattern image data, so as to
It is concise whether in place to indicate the installation of the present apparatus.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the image-type angle displacement measuring device of invention；
Fig. 2 is the schematic diagram of grating disc of the invention；
Fig. 3 is that LED status of the invention judges schematic diagram；
Fig. 4 is the flow chart for the mass center g that the present invention calculates G [x] according to image data；
Fig. 5 is the flow chart for the mass center h that the present invention calculates H [x] according to image data.
Specific embodiment
In order that the present invention can be more clearly and readily understood, right below according to specific embodiment and in conjunction with attached drawing
The present invention is described in further detail.
As shown in Figure 1, 2, a kind of image-type angle displacement measuring device, it includes:
Bracket is separately installed with source of parallel light and line scan image sensor 2, source of parallel light and linear array images on the bracket
Sensor 2 is formed to penetrating；
It is connect with determinand and with the grating disc 8 that determinand is rotated around its center of circle, identification region 82 of the grating disc 8
Between source of parallel light and line scan image sensor 2；
Processing circuit 6, the processing circuit 6 are connect with 2 signal of line scan image sensor；Wherein,
The directional light that the source of parallel light issues is irradiated to identification region 82, and then the pattern Mapping of identification region 82 is arrived
On line scan image sensor 2；
The line scan image sensor 2 is suitable for acquiring the image data of the pattern of mapping on it and feeds back to processing circuit
6；
The processing circuit 6 is suitable for exporting its received image data, or calculates angular displacement and defeated according to image data
Out.
As shown in Figure 1, the source of parallel light includes point light source 3 and convex lens 4, the point light source 3 and convex lens 4 are pacified respectively
On bracket, the point light source 3 is located at the focal point of convex lens 4, and then is become by the light that convex lens 4 issues point light source 3
For directional light.In the present embodiment, the distance between the line scan image sensor 2 and the convex lens 4 should be greater than described
Demarcate the thickness of grating disc 8.After being coupled with the calibration grating disc 8, the line scan image sensor 2 and the calibration
The height distance of grating disc 8 should be less than 1mm.
As shown in Figure 1, powering for convenience for point light source 3, the processing circuit 6 is electrically connected with point light source 3, the place
Reason circuit 6 is further adapted to the power supply of point light source 3.
As shown in Figure 1, adjusting the distance between line scan image sensor 2 and grating disc 8 for convenience, and then facilitate into
Picture, the bracket include top tray 11, lower tray 12 and support arm 13, and the source of parallel light is mounted in lower tray 12, described
Line scan image sensor 2 is mounted in top tray 11, and the lower tray 12 is fixedly connected with the lower end of the support arm 13, institute
The upper end that top tray 11 is liftably sleeved on support arm 13 is stated, is provided between the top tray 11 and support arm 13 online
Array image sensor 2 is elevated to after suitable position with respect to grating disc 8 for locking the locking mechanism of top tray 11.
As shown in Figure 1, the locking mechanism includes locking bolt, sliding slot 5, the support are provided in the top tray 11
It is provided with bolt hole on arm 13, the locking bolt passes through 5 back spin of sliding slot into bolt hole, makes spiral shell will pass through screwing bolts
Bolt abuts to lock top tray 11 with sliding slot 5.
As shown in Figure 1, know for convenience line scan image sensor 2 acquire image data whether be grating disc 8 knowledge
The image data of other zone map, image-type angle displacement measuring device further include connecting and being used for 6 signal of processing circuit
Indicate line scan image sensor 2 acquire image data whether be grating disc 8 82 pattern of identification region image data finger
Show lamp 7.
As shown in Figure 1, the connection of image-type angle displacement measuring device and external equipment for convenience, image-type angular displacement are surveyed
Measuring device further includes the connector being connected with the processing circuit 6.In the present embodiment, the connector passes through transmission cable
9 are connected with the processing circuit 6.
As shown in Figure 1, the processing circuit 6 is suitable for exporting its received image data, the connector includes calculating electricity
Road 101 and plug 102, the counting circuit 101 are connect with 6 signal of processing circuit, the plug 102 and the calculating electricity
Road 101 is connected；Wherein,
The counting circuit 101 is suitable for the image data of receiving processing circuit transmission, and calculates angle position according to image data
Shifting amount；
The plug 102 is suitable for connecting with external equipment, and then facilitates counting circuit 101 to external equipment angle displacement
Amount.In the present embodiment, the connector has cavity, and the counting circuit 101 is mounted in cavity, the plug 102
At least part exposes cavity.
In the present embodiment, as shown in Fig. 2, the present invention provides the schematic diagram of grating disc 8, the grating disc 8 includes marking
Line 81, identification region 82, grating pallet 83, the graticule 81 are 2nItem is located at the radial light transmission groove of same radial location, light
Grid pallet 83 is opaque.It at least should include n graticule 81 in identification region 82, and the lateral length of identification region 82,
I.e. perpendicular to radial direction, it should less than the photosensitive region length of the line scan image sensor 2.When 2 turns of the grating disc
When dynamic, the graticule 81 in the identification region 82 changes also with rotation.
It specifically, may include having 2 on the grating disc 8nThe equally spaced individual pen light transmission groove of item, i.e. graticule 81, graticule
It is light tight region other than 81, forms n calibration grating encoders, n is positive integer；The line scan image sensor 2 specifically can be with
For receiving the optical projection of at least n+2 groove.In addition, between every groove and the center of circle of the grating disc 8 away from
It is identical from can be set to.
Specifically, if the length of line scan image sensor 2 is L, on grating disc 8 center of circle of every groove and grating disc 8 it
Between distance be R, it should make L >=R.
It include 2 on the grating disc 8nThe equally spaced individual pen light transmission groove of item, symbol representated by each groove can
To be " thick line " (representing numerical value " 1 ") or " filament " (representing numerical value " 0 ").2nCode represented by i-th groove in groove
Member will be calculated according to formula (1):
Wherein,Indicate XOR operation, Xi-n, Xi-n+1..., Xi-1It is the symbol X respectivelyiBefore preceding 1,
2 ..., n bit symbols.Enabling n initial symbol is { X1, X2..., Xn-1, Xn}={ 0,0 ..., 1 }；With season X0=0, then passing through
The calculating for crossing formula (1) is total to available { X0, X1, X2..., X2 n -1}2nA symbol.Each code element XiWith n-1 adjacent code thereafter
Member one group of coding of composition, i.e. { Xi, Xi+1..., Xi+n-1}.Corresponding numerical value i at this time is exactly { Xi, Xi+1..., Xi+n-1Encoded radio
Corresponding decoding value；Each group of encoded radio with only corresponding 1 decoding value i.Demarcating grating encoder will be in sequence in same Radius
The groove of all symbols is once delineated in position.
Wherein, as n=8, { a can be taken1, a2..., a8}={ 0,1,1,1,0,0,0,1 }；As n=9, Ke Yiqu
{a1, a2..., a9}={ 0,0,0,1,0,0,0,0,1 }；As n=10, { a can be taken1, a2..., a10}={ 0,0,1,0,0,
0,0,0,0,1}。
Fig. 3 judges that schematic diagram, the indicator light 7 are connect with the processing circuit 6 for 8 state of indicator light of the invention, and
Positioned at the outer surface of the top tray 11, be used to refer to 2 acquired images of presently described line scan image sensor whether
In the range of permission.As shown in figure 3, the processing circuit 6 receives the line scan image sensor 2 frame picture number collected
According to, judge the quantity of collected " graticule " whether be greater than preset value, preset value can be the digit n of nominal light grid code-disc,
Then judge whether the gray value of each graticule is greater than preset value again, it is no if condition satisfaction will make the indicator light " bright "
Then it is " going out ".
A kind of method that counting circuit 101 calculates angular displacement includes in method and step:
Angular displacement subdivision value is calculated according to image data, angular displacement subdivision value is expressed as A；
It is realized and is decoded according to image data, and obtain corresponding decoding value, decoding value is expressed as B；
By A+B2m, obtain angular displacement, wherein 2mNumerical value be preset subdivision multiple, 2mValue is bigger, subdivision point
Resolution is higher；
The step of calculating angular displacement subdivision value according to image data is specific as follows:
If the resolution ratio of line scan image sensor 2 is 1 × N, the gray value of x-th of pixel is Px.
Step 1: first reticle pattern near N/2 is found, if threshold value is α (preset value), according to stream shown in Fig. 4
First groove near the N/2 pixel is stored in G [x] array by journey figure；
The mass center g of G [x] will be calculated according to formula (2).
Step 2: judging the value of g and the size relation of N/2 value.If g >=N/2, flow chart as shown in Figure 5, will continue to
The next reticle pattern of x=x-1 direction finding, and calculate its mass center；If g < N/2, will continue under x=x+1 direction finding
The gray value of next groove is stored in array H [x] by one reticle pattern, and calculates its mass center.
The mass center h of H [x] will be calculated according to formula (3).
If subdivision value is A, then the calculating of subdivision value will be carried out according to formula (4).
In formula (4), 2mNumerical value be preset subdivision multiple.2mValue is bigger, and subdivision resolution ratio is higher.
It is realized and is decoded according to image data, and tabled look-up and obtain corresponding decoding value specific step is as follows:
Step 1: continually looking for N/2 quarter respectively on the left of G [x] (direction x=x-1) and right side (direction x=x+1)
Line, and be respectively stored into J1 [x], J2 [x], J3 [x] ..., in Jn [x] array；
Step 2: judging decoding value representated by groove in J1 [x] array；
If the number of the pixel value stored in J1 [x] array is k, preset threshold β.Judge as k >=β, in J1 [x] array
Groove represent " 1 "；As k < β, the groove in G [x] array represents " 0 ".
Similarly, respectively by n array J1 [x], J2 [x], J3 [x] ..., numerical value representated by Jn [x] are calculated, and are formed
N encoded radio { Xi, Xi+1..., Xi+n-1, according to presetting, i value corresponding with encoded radio is exactly the decoding value of n encoded radios,
For each group of encoded radio { Xi, Xi+1..., Xi+n-1Only correspond to a decoding value i.According to n encoded radio { Xi, Xi+1...,
Xi+n-1Available corresponding unique decoding value, it is expressed as B；Wherein, i is preset value, can be calculated according to formula (1).
This is arrived, subdivision and decoding are completed, and the final result of angle displacement measurement is A+B2m。
Working principle of the present invention is as follows:
Directional light irradiates the identification region 82 of grating disc 8, and the pattern Mapping of identification region 82 to linear array images is sensed
On device 2, and then realize the imaging to identification region 82 on grating disc 8, processing circuit 6 receives line scan image sensor 2 and acquired
Image data, and image data is transferred out, the identification that user carries out angular displacement further according to the image data of transmission calculates,
Or processing circuit 6 directly calculates angular displacement according to image data and exports, the present invention obtains grating disc 8 in which can be convenient
Displacement identification image, with pixel grey scale information replace Moire fringe phase information, it is easier to realize high-resolution and high-precision
Angle displacement measurement, facilitate industrial automation and its equipment to obtain high-precision angular displacement information；Image-type angle position of the invention
Measuring system is integrated device, when in use, do not need additional designs system frame or placement element, have it is small in size,
The advantages that measurement accuracy is high, installation is simple, easy to use；The present invention also has indicator light 7, is convenient for measuring personnel and knows line in time
Array image sensor 2 acquire image data whether be grating disc 8 82 pattern of identification region image data, so as to refer to
Whether in place to show the installation of the present apparatus, it is concise.
Particular embodiments described above, pair present invention solves the technical problem that, technical scheme and beneficial effects carry out
It is further described, it should be understood that the above is only a specific embodiment of the present invention, is not limited to this
Invention, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should be included in this hair
Within bright protection scope.
Claims (10)
1. a kind of image-type angle displacement measuring device, which is characterized in that it includes:
Bracket, source of parallel light and line scan image sensor (2) are separately installed on the bracket, and source of parallel light and linear array images pass
Sensor (2) is formed to penetrating；
The grating disc (8) for connecting with determinand and being rotated with determinand around its center of circle, the identification region (82) of the grating disc (8)
Between source of parallel light and line scan image sensor (2)；
Processing circuit (6), the processing circuit (6) connect with the line scan image sensor (2) signal；Wherein,
The directional light that the source of parallel light issues is irradiated to identification region (82), and then the pattern Mapping of identification region (82) is arrived
On line scan image sensor (2)；
The line scan image sensor (2) is suitable for acquiring the image data of the pattern of mapping on it and feeds back to processing circuit
(6)；
The processing circuit (6) is suitable for exporting its received image data, or calculates angular displacement according to image data and export.
2. image-type angle displacement measuring device according to claim 1, it is characterised in that: the source of parallel light includes point light
Source (3) and convex lens (4), the point light source (3) and convex lens (4) are separately mounted on bracket, and the point light source (3) is located at convex
The focal point of lens (4), and then the light that point light source (3) issues is become by directional light by convex lens (4).
3. image-type angle displacement measuring device according to claim 2, it is characterised in that: the processing circuit (6) and point
Light source (3) is electrically connected, and the processing circuit (6) is further adapted to point light source (3) power supply.
4. image-type angle displacement measuring device according to claim 1, it is characterised in that: the bracket includes top tray
(11), lower tray (12) and support arm (13), the source of parallel light are mounted on lower tray (12), the line scan image sensor
(2) it is mounted on top tray (11), the lower tray (12) is fixedly connected with the lower end of the support arm (13), the pop-up
Disk (11) is liftably sleeved on the upper end of support arm (13), is provided between the top tray (11) and support arm (13)
Line scan image sensor (2) is elevated to after suitable position with respect to grating disc (8) for locking the locking mechanism of top tray (11).
5. image-type angle displacement measuring device according to claim 4, it is characterised in that: the locking mechanism includes locking
Bolt is provided with sliding slot (5) on the top tray (11), is provided with bolt hole, the locking bolt on the support arm (13)
Across sliding slot (5) back spin into bolt hole, bolt is abutted with sliding slot (5) to will pass through screwing bolts and lock top tray
(11).
6. image-type angle displacement measuring device according to claim 1, it is characterised in that: further include and the processing circuit
(6) signal connect and be used to indicate line scan image sensor (2) acquisition image data whether be grating disc (8) cog region
The indicator light (7) of the image data of domain (82) pattern.
7. image-type angle displacement measuring device according to claim 1, it is characterised in that: further include and the processing circuit
(6) connector being connected.
8. image-type angle displacement measuring device according to claim 7, it is characterised in that: the connector passes through transmission electricity
Cable (9) is connected with the processing circuit (6).
9. image-type angle displacement measuring device according to claim 7, it is characterised in that: the processing circuit (6) is suitable for
Its received image data is exported, the connector includes counting circuit (101) and plug (102), the counting circuit (101)
It is connect with the processing circuit (6) signal, the plug (102) is connected with the counting circuit (101)；Wherein,
The counting circuit (101) is suitable for the image data of receiving processing circuit (6) transmission, and calculates angle position according to image data
Shifting amount；
The plug (102) is suitable for connecting with external equipment, and then facilitates counting circuit (101) to external equipment angle displacement
Amount.
10. image-type angle displacement measuring device according to claim 9, it is characterised in that: the connector has cavity,
The counting circuit (101) is mounted in cavity, and at least part of the plug (102) exposes cavity.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910466999.1A CN110081838A (en) | 2019-06-20 | 2019-06-20 | Image-type angle displacement measuring device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910466999.1A CN110081838A (en) | 2019-06-20 | 2019-06-20 | Image-type angle displacement measuring device |
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| Publication Number | Publication Date |
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| CN110081838A true CN110081838A (en) | 2019-08-02 |
Family
ID=67422815
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| CN201910466999.1A Pending CN110081838A (en) | 2019-06-20 | 2019-06-20 | Image-type angle displacement measuring device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110426106A (en) * | 2019-08-30 | 2019-11-08 | 盐城市计量测试所 | A kind of flowmeter testing jig based on image recognition |
| CN112484668A (en) * | 2020-11-17 | 2021-03-12 | 中国科学院长春光学精密机械与物理研究所 | High-precision angle displacement measuring device |
-
2019
- 2019-06-20 CN CN201910466999.1A patent/CN110081838A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110426106A (en) * | 2019-08-30 | 2019-11-08 | 盐城市计量测试所 | A kind of flowmeter testing jig based on image recognition |
| CN110426106B (en) * | 2019-08-30 | 2024-04-12 | 盐城市计量测试所 | Flow meter test frame based on image recognition |
| CN112484668A (en) * | 2020-11-17 | 2021-03-12 | 中国科学院长春光学精密机械与物理研究所 | High-precision angle displacement measuring device |
| CN112484668B (en) * | 2020-11-17 | 2021-12-28 | 中国科学院长春光学精密机械与物理研究所 | High-precision angle displacement measuring device |
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