CN111998875A - Angular position sensor based on photoelectric detector and measuring method thereof - Google Patents
Angular position sensor based on photoelectric detector and measuring method thereof Download PDFInfo
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- 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
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Abstract
The invention discloses an angular position sensor based on a photoelectric detector, which comprises four sector photoelectric detectors which are symmetrical around the circle center of the same axis and are used for receiving illumination to generate induced current; the LD laser diode is positioned on the axes of the four sector-shaped photodetectors and is used for emitting laser to the light receiving surface of the sector-shaped photodetectors; the temperature sensor is used for measuring the temperature of the sector photoelectric detector; two shading sheets which are coaxially arranged with the four sector-shaped photoelectric detectors shade the light receiving surfaces of the sector-shaped photoelectric detectors; the current calculation module is used for calculating the difference value of the two output induction current values; the temperature compensation module is used for carrying out temperature compensation on the output value of the sector photoelectric detector; and the angular position calculating module is used for calculating the angular position of the rotating shaft to be measured according to the compensated induced current difference value. The invention can improve the defects of the prior art and does not need to repeatedly carry out manual calibration.
Description
Technical Field
The invention relates to the technical field of angle measurement, in particular to an angle position sensor based on a photoelectric detector and a measuring method thereof.
Background
The sensors provide the system with the raw information necessary for processing and decision making, greatly affecting and determining the performance of the system. For a closed-loop control system, the accuracy of information feedback is crucial, and it is a critical issue to apply the sensor for realizing information collection and conversion properly or not. At present, an angle sensor is required to be used for measuring a rotation angle with higher precision in many application occasions, wherein the shading type angle sensor is one of the commonly used sensors. The existing shading type angle sensor needs to be frequently manually calibrated in order to ensure the measurement precision, and is inconvenient to use.
Disclosure of Invention
The invention aims to provide an angular position sensor based on a photoelectric detector and a measuring method thereof, which can overcome the defects of the prior art and do not need manual calibration repeatedly.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows.
A photodetector-based angular position sensor comprising:
the four sector photoelectric detectors are symmetrical around the circle center of the same axis and used for receiving illumination to generate induced current, two non-adjacent sector photoelectric detectors are connected in series to form a group, and two groups of sector photoelectric detectors output two induced current values respectively;
the LD laser diode is positioned on the axes of the four sector-shaped photodetectors and is used for emitting laser to the light receiving surface of the sector-shaped photodetectors;
the temperature sensor is used for measuring the temperature of the sector photoelectric detector;
the two light-shielding sheets are coaxially arranged with the four fan-shaped photoelectric detectors, are fixed on a rotating shaft to be detected, are symmetrically arranged, are positioned between the fan-shaped photoelectric detectors and the LD laser diode and are used for rotating along with the rotating shaft to be detected and shielding light receiving surfaces of the fan-shaped photoelectric detectors;
the current calculation module is used for calculating the difference value of the two output induction current values;
the temperature compensation module is used for carrying out temperature compensation on the output value of the sector photoelectric detector;
and the angular position calculating module is used for calculating the angular position of the rotating shaft to be measured according to the compensated induced current difference value.
Preferably, the rotation angle range of the rotation axis to be measured is ± 30 °.
Preferably, two input ends of the current calculation module are respectively connected to a reverse input end and a forward input end of the first operational amplifier through a first resistor and a second resistor, the reverse input end of the first operational amplifier is connected to the output end of the first operational amplifier through a third resistor, the forward input end of the first operational amplifier is grounded through a fourth resistor, the output end of the first operational amplifier is connected to the output end of the current calculation module through a fifth resistor, the output end of the first operational amplifier is connected to the reverse input end of the second operational amplifier through a sixth resistor, the forward input end of the second operational amplifier can be grounded through a seventh resistor, the reverse input end of the second operational amplifier is connected to the output end of the second operational amplifier through a first capacitor, the output end of the second operational amplifier is connected to a base electrode of the triode, the base electrode of the triode is connected to the output end of the first operational amplifier through an eighth resistor, and the base electrode of the triode is grounded through a second, and an emitting electrode of the triode is connected to the output end of the current calculation module, and a base electrode of the triode is grounded through a third capacitor.
The measuring method of the angular position sensor based on the photoelectric detector comprises the following steps:
A. the LD laser diode emits laser to the four fan-shaped photoelectric detectors through the shading sheets, the rotating shaft to be detected drives the shading sheets to synchronously rotate, and the fan-shaped photoelectric detectors generate induced current after receiving light;
B. the current calculation module calculates the difference value of two induction current values output by the two groups of fan-shaped photoelectric detectors;
C. the temperature compensation module is used for carrying out temperature compensation on the output value of the sector photoelectric detector;
D. and the angular position calculating module calculates the angular position of the rotating shaft to be measured according to the compensated induced current difference value.
Preferably, in the step C, the temperature compensation includes the steps of,
c1, according to the temperature value curve detected by the temperature sensor, taking a corresponding curve segment on the temperature-current drift amount curve, wherein the temperature detection value is the midpoint of the corresponding temperature-current drift amount curve segment;
c2, sequencing all the curve segments obtained in the step C1 according to a time sequence, and combining the curves of the overlapped part to obtain a compensation coefficient curve corresponding to the temperature value curve;
and C3, performing compensation calculation on the temperature value curve by using the compensation coefficient curve.
Preferably, in step C2, the merging of the curves of the overlapping portions includes the steps of,
c21, traversing the curve overlapping part, and marking the part of the difference value between the curves exceeding the set threshold value;
c22, arranging a plurality of groups of marking points on the curve of the marking part, wherein the abscissa of each group of marking points is the same, giving a marking point weight value according to the distance between the marking point and the midpoint of the curve segment, and the weight value of the marking point is inversely proportional to the distance between the marking point and the midpoint of the curve segment;
c23, carrying out weighted average on each group of mark points to obtain a fitting point;
c24, performing interpolation fitting on all fitting points to obtain a fitting curve;
c25, fitting the curve of the non-labeled part, wherein the fitting process meets the following two conditions,
[1] the difference value between the fitted curve and the original curve is smaller than a set threshold value;
[2] and the similarity between the fitted curve and the fitted curve obtained in the step C24 is greater than a set threshold value.
Adopt the beneficial effect that above-mentioned technical scheme brought to lie in: according to the invention, two groups of symmetrically arranged fan-shaped photoelectric detectors are arranged, different shading areas are generated for the two groups of fan-shaped photoelectric detectors in the rotation process of the shading sheet, so that the two groups of fan-shaped photoelectric detectors output different currents, and the angle position calculation module calculates the corresponding rotation angle according to the induced current difference. In order to ensure the output stability of the induced current difference value, the invention specially designs a current calculation module, and when the output current value fluctuates, the current fluctuation is restrained by the conduction of a triode. The second operational amplifier can adjust the conduction control current of the triode, and continuous conduction of the triode is guaranteed when the current with low frequency and large amplitude changes. The temperature compensation module is used for carrying out temperature compensation on the output value of the sector photoelectric detector, and a compensation coefficient curve is generated in a segmented value-taking and combining mode in order to ensure the real-time performance of compensation operation in the compensation process. Meanwhile, the distortion degree of the merged curves is reduced by carrying out segmentation processing on the curves in the process of merging the curves.
Drawings
FIG. 1 is a block diagram of one embodiment of the present invention.
FIG. 2 is a block diagram of a current calculation module in accordance with one embodiment of the present invention.
Detailed Description
Referring to fig. 1-2, one embodiment of the present invention includes,
the four sector photoelectric detectors 1 are symmetrical around the circle center of the same axis and used for receiving illumination to generate induced current, two non-adjacent sector photoelectric detectors 1 are connected in series to form a group, and two groups of sector photoelectric detectors output two induced current values respectively;
the LD laser diode 2 is positioned on the axes of the four fan-shaped photodetectors 1 and is used for emitting laser to the light receiving surface of the fan-shaped photodetectors 1;
the temperature sensor 3 is used for measuring the temperature of the sector photoelectric detector 1;
the two light-shielding sheets 4 are coaxially arranged with the four fan-shaped photoelectric detectors 1, the two light-shielding sheets 4 are fixed on a rotating shaft 5 to be detected, the two light-shielding sheets 4 are symmetrically arranged, and the light-shielding sheets 4 are positioned between the fan-shaped photoelectric detectors 1 and the LD laser diode 2 and are used for rotating along with the rotating shaft 5 to be detected and shielding the light receiving surface of the fan-shaped photoelectric detectors 1;
the current calculation module 6 is used for calculating the difference value of the two output induction current values;
the temperature compensation module 7 is used for performing temperature compensation on the output value of the sector photoelectric detector 1;
and the angular position calculating module 8 is used for calculating the angular position of the rotating shaft 5 to be measured according to the compensated induced current difference value.
The rotation angle range of the rotating shaft 5 to be measured is ± 30 °.
Two input ends IN of the current calculating module 6 are respectively connected to a reverse input end and a forward input end of a first operational amplifier a1 through a first resistor R1 and a second resistor R2, the reverse input end of the first operational amplifier a1 is connected to the output end of a first operational amplifier a1 through a third resistor R3, the forward input end of the first operational amplifier a1 is grounded through a fourth resistor R4, the output end of the first operational amplifier a1 is connected to the output end OUT of the current calculating module 6 through a fifth resistor R5, the output end of the first operational amplifier a1 is connected to the reverse input end of a second operational amplifier a2 through a sixth resistor R6, the forward input end of the second operational amplifier a2 can be grounded through a seventh resistor R7, the reverse input end of the second operational amplifier a2 is connected to the output end of a second operational amplifier a2 through a first capacitor C1, the output end of the second operational amplifier a2 is connected to the base of a triode Q, the base of the triode Q is connected to the output end of a1 through an eighth operational amplifier R8, the base of the triode Q is grounded through a second capacitor C2, the emitter of the triode Q is connected to the output terminal OUT of the current calculating module 6, and the base of the triode Q is grounded through a third capacitor C3.
The first resistor R1 is 0.5k omega, the second resistor R2 is 1.2 k omega, the third resistor R3 is 0.85 k omega, the fourth resistor R4 is 0.25 k omega, the fifth resistor R5 is 2 k omega, the sixth resistor R6 is 1.5 k omega, the seventh resistor R7 is 0.95 k omega, the eighth resistor R81.3 k omega, the first capacitor C1 is 200 muF, the second capacitor C2 is 700 muF, and the third capacitor C3 is 750 muF.
The measuring method of the angular position sensor based on the photoelectric detector comprises the following steps:
A. the LD laser diode 2 emits laser to the four fan-shaped photoelectric detectors 1 through the shading sheet 4, the rotating shaft 5 to be detected drives the shading sheet 4 to synchronously rotate, and the fan-shaped photoelectric detectors 1 generate induced current after receiving light;
B. the current calculation module 6 calculates the difference value of two induction current values output by the two groups of fan-shaped photoelectric detectors;
C. the temperature compensation module 7 performs temperature compensation on the output value of the sector photoelectric detector 1;
D. the angular position calculation module 8 calculates the angular position of the rotating shaft 5 to be measured according to the compensated induced current difference.
In step C, the temperature compensation comprises the following steps,
c1, according to the temperature value curve detected by the temperature sensor 3, taking a corresponding curve segment on the temperature-current drift amount curve, wherein the temperature detection value is the midpoint of the corresponding temperature-current drift amount curve segment;
c2, sequencing all the curve segments obtained in the step C1 according to a time sequence, and combining the curves of the overlapped part to obtain a compensation coefficient curve corresponding to the temperature value curve;
and C3, performing compensation calculation on the temperature value curve by using the compensation coefficient curve.
In step C2, merging the curves of the overlapping portions includes the steps of,
c21, traversing the curve overlapping part, and marking the part of the difference value between the curves exceeding the set threshold value;
c22, arranging a plurality of groups of marking points on the curve of the marking part, wherein the abscissa of each group of marking points is the same, giving a marking point weight value according to the distance between the marking point and the midpoint of the curve segment, and the weight value of the marking point is inversely proportional to the distance between the marking point and the midpoint of the curve segment;
c23, carrying out weighted average on each group of mark points to obtain a fitting point;
c24, performing interpolation fitting on all fitting points to obtain a fitting curve;
c25, fitting the curve of the non-labeled part, wherein the fitting process meets the following two conditions,
[1] the difference value between the fitted curve and the original curve is smaller than a set threshold value;
[2] and the similarity between the fitted curve and the fitted curve obtained in the step C24 is greater than a set threshold value.
The four sector-shaped photoelectric detectors 1 are implemented on one chip, so that the positions, sizes and performances of the four sectors are completely consistent, and the electrical property difference of different sector-shaped photoelectric detectors 1 is avoided. The invention greatly reduces the error caused by inaccurate finding of the rotating shaft due to the improvement of the measuring precision, can completely control the position of the rotating shaft by adopting software, and saves the labor cost. The integrated photoelectric detector has high precision, high temperature uniformity and high device uniformity, and never has the characteristic of high precision.
In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, are merely for convenience of description of the present invention, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (6)
1. A photodetector-based angular position sensor, comprising:
the photoelectric detector comprises four sector photoelectric detectors (1) which are symmetrical around the circle center of the same axis and used for receiving illumination to generate induced current, wherein two non-adjacent sector photoelectric detectors (1) are connected in series to form a group, and two groups of sector photoelectric detectors output two induced current values respectively;
the LD laser diode (2) is positioned on the axes of the four fan-shaped photodetectors (1) and is used for emitting laser to the light receiving surface of the fan-shaped photodetectors (1);
the temperature sensor (3) is used for measuring the temperature of the fan-shaped photoelectric detector (1);
the device comprises two shading sheets (4) which are coaxially arranged with four fan-shaped photoelectric detectors (1), wherein the two shading sheets (4) are fixed on a rotating shaft (5) to be detected, the two shading sheets (4) are symmetrically arranged, and the shading sheets (4) are positioned between the fan-shaped photoelectric detectors (1) and LD laser diodes (2) and are used for rotating along with the rotating shaft (5) to be detected and shading the light receiving surface of the fan-shaped photoelectric detectors (1);
the current calculation module (6) is used for calculating the difference value of the two output induction current values;
the temperature compensation module (7) is used for performing temperature compensation on the output value of the sector photoelectric detector (1);
and the angle position calculating module (8) is used for calculating the angle position of the rotating shaft (5) to be measured according to the compensated induced current difference value.
2. The photodetector-based angular position sensor of claim 1, wherein: the range of the rotation angle of the rotating shaft (5) to be measured is +/-30 degrees.
3. The photodetector-based angular position sensor of claim 2, wherein: two input ends (IN) of the current calculation module (6) are respectively connected to an inverse input end and a forward input end of a first operational amplifier (A1) through a first resistor (R1) and a second resistor (R2), the inverse input end of the first operational amplifier (A1) is connected to the output end of a first operational amplifier (A1) through a third resistor (R3), the forward input end of the first operational amplifier (A1) is connected to the ground through a fourth resistor (R4), the output end of the first operational amplifier (A1) is connected to the output end (OUT) of the current calculation module (6) through a fifth resistor (R5), the output end of the first operational amplifier (A1) is connected to the inverse input end of a second operational amplifier (A2) through a sixth resistor (R6), the forward input end of the second operational amplifier (A2) can be connected to the ground through a seventh resistor (R7), and the inverse input end of the second operational amplifier (A2) is connected to the output end of a second operational amplifier (2) through a capacitor (C1), the output end of the second operational amplifier (A2) is connected to the base electrode of the triode (Q), the base electrode of the triode (Q) is connected to the output end of the first operational amplifier (A1) through an eighth resistor (R8), the base electrode of the triode (Q) is grounded through a second capacitor (C2), the emitting electrode of the triode (Q) is connected to the output end (OUT) of the current calculation module (6), and the base electrode of the triode (Q) is grounded through a third capacitor (C3).
4. A method of measuring a photodetector based angular position sensor according to any of claims 1 to 3, characterized in that it comprises the following steps:
A. the LD laser diode (2) emits laser to the four fan-shaped photoelectric detectors (1) through the light shielding sheets (4), the rotating shaft (5) to be tested drives the light shielding sheets (4) to synchronously rotate, and the fan-shaped photoelectric detectors (1) generate induced current after receiving light;
B. the current calculation module (6) calculates the difference value of two induction current values output by the two groups of fan-shaped photoelectric detectors;
C. the temperature compensation module (7) is used for carrying out temperature compensation on the output value of the fan-shaped photoelectric detector (1);
D. and the angular position calculating module (8) calculates the angular position of the rotating shaft (5) to be measured according to the compensated induced current difference value.
5. The method of claim 4, wherein: in step C, the temperature compensation comprises the following steps,
c1, according to the temperature value curve detected by the temperature sensor (3), taking a corresponding curve segment on the temperature-current drift amount curve, wherein the temperature detection value is the midpoint of the corresponding temperature-current drift amount curve segment;
c2, sequencing all the curve segments obtained in the step C1 according to a time sequence, and combining the curves of the overlapped part to obtain a compensation coefficient curve corresponding to the temperature value curve;
and C3, performing compensation calculation on the temperature value curve by using the compensation coefficient curve.
6. The method of claim 5, wherein: in step C2, merging the curves of the overlapping portions includes the steps of,
c21, traversing the curve overlapping part, and marking the part of the difference value between the curves exceeding the set threshold value;
c22, arranging a plurality of groups of marking points on the curve of the marking part, wherein the abscissa of each group of marking points is the same, giving a marking point weight value according to the distance between the marking point and the midpoint of the curve segment, and the weight value of the marking point is inversely proportional to the distance between the marking point and the midpoint of the curve segment;
c23, carrying out weighted average on each group of mark points to obtain a fitting point;
c24, performing interpolation fitting on all fitting points to obtain a fitting curve;
c25, fitting the curve of the non-labeled part, wherein the fitting process meets the following two conditions,
[1] the difference value between the fitted curve and the original curve is smaller than a set threshold value;
[2] and the similarity between the fitted curve and the fitted curve obtained in the step C24 is greater than a set threshold value.
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Cited By (2)
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| WO2022266812A1 (en) * | 2021-06-21 | 2022-12-29 | 深圳市大疆创新科技有限公司 | Photoelectric sensor assembly, photodetector, and distance measurement system |
| CN117668734A (en) * | 2024-01-29 | 2024-03-08 | 深圳欧斯普瑞智能科技有限公司 | Intelligent cutting head temperature monitoring method |
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