CN202083361U - Array detector-based absolute axial angle coding system - Google Patents
Array detector-based absolute axial angle coding system Download PDFInfo
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- CN202083361U CN202083361U CN2011201872502U CN201120187250U CN202083361U CN 202083361 U CN202083361 U CN 202083361U CN 2011201872502 U CN2011201872502 U CN 2011201872502U CN 201120187250 U CN201120187250 U CN 201120187250U CN 202083361 U CN202083361 U CN 202083361U
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Abstract
The utility model discloses an array detector-based absolute axial angle coding system comprising a light source, a rotating shaft, a coding disc, an objective lens, an array detector and a data processing circuit, wherein the coding disc is disposed in the rotating shaft, the light source is disposed at one side of the coding disc, the other side of the coding disc is sequentially provided with an imaging objective lens and an array detector, the coding disc, the imaging objective lens and the array detector are disposed by the means that the object image position relationship needs to be met, the array detects obtains the amplified coding disc local image information and transmits the information to the data processing circuit, and the data processing circuit analyses and processes the image information and outputs the angle information. The coding disc adopts a single ring absolute type coding mode to reduce a code channel and reduce the size of the coding disc; the array detector is taken as a receiving element to meet the requirement of high response frequency; and a hardware circuit is taken as a data processing unit, so that the system has the characteristics of being good in instantaneity, high in response speed, small in volume and the like. The imaging objective lens is used for amplifying the local image of the coding disc, so that the resolution ratio of the system is improved.
Description
Technical field
The utility model relates to a kind of accurate angle measurement system, especially relates to a kind of absolute shaft encode system based on detector array.
Background technology
According to the difference of coded system, traditional shaft-position encoder can be divided into two kinds of increment type and absolute types, and the advantage of incremental encoder is that response speed is fast, simple in structure, size is little, and its shortcoming is affected by environment big, cause data degradation after the power down easily, and error accumulation is arranged.Compare with incremental encoder, it is strong that the absolute type shaft-position encoder has an antijamming capability, need not demarcate advantages such as no cumulative errors after the power down again.
At present, the company and the research institution that develop shaft-position encoder in the world are a lot, mainly contain German Heidenhain company, Opton company etc.; The Tamagawa company of Japan, NIKON, Canon Inc. etc.; The Itek company of the U.S., Renco company etc., and the research institution and the producer of countries such as Britain, Switzerland and Russia.The Goddard aerospace center of U.S. NASA is the absolute type shaft-position encoder of 27 ultrahigh resolutions of vehicle Cartesian coordinate development, and it has adopted brand-new coded system and image recognition technology, satisfies the needs of spationautics.The scrambler research of China probably is started in the eighties of last century sixties, Changchun ray machine institute of the Chinese Academy of Sciences has developed the first block encoding dish and circle grating in 1964, and be successfully applied on electro-optic theodolite and the instrumentation radar, subsequently, many tame R﹠D institutions have also successively carried out the R and D of photoelectric encoder, and obtained certain achievement, at the end of the eighties, the Chengdu ray machine is developed 26 absolute type shaft-position encoder＜± 10 "; Calendar year 2001, the Changchun ray machine is developed 15 microminiature absolute optical encoders, and diameter is 40mm.
For present existing absolute type shaft-position encoder, exist contradiction between resolution and the system dimension, high-resolution scrambler often system dimension is bigger, and the scrambler of miniaturization often angular resolution is not high, in addition, response frequency is not high also is the big problem that existing shaft-position encoder exists.
Utility model patent " absolute position shaft-position encoder " (number of patent application: the absolute shaft-position encoder 200620115789.6), with the utility model similarity is arranged, introduce its principal feature below:
1, the system that is proposed utilizes line array CCD to gather the code-disc local message, and then utilizes electronic fine-grained technology, improves angular resolution, has overcome the contradiction between scrambler size and the angular resolution to a certain extent.
2, the system that is proposed, improve thick code distinguishability when dwindling code-disc, in the diffraction limit scope, need dwindle the size of code-wheel groove, because there is limit minimum dimension in the size of detector array pixel, code-wheel groove undersized is unfavorable for electronic fine-grainedly obtaining thin sign indicating number, has contradiction so improve thick code distinguishability and improve between the thin code distinguishability, and just still there is certain problem in raising resolution this respect when dwindling the scrambler size.
3, the code-wheel that is proposed, the pseudorandomcode mode of employing, electronic fine-grained in order to carry out, its array CCD becomes code-wheel topography to comprise at least
Organize complete coding, wherein N is the isodisperse of code channel, and the corresponding code channel width of the complete coding of n group is
In order to improve thick code distinguishability, need to increase N, and N is big more,
Big more, the resolution that segmentation can improve is more little, and this forms a pair of contradiction.
4, the code-wheel that is proposed adopts the pseudorandomcode mode to encode, and the decoding angle information is comparatively complicated from image information.
Along with national defence, the development in industries such as robotization and field, miniaturization to shaft-position encoder, intelligent, integrated requirement is more and more higher, the factor of restriction shaft-position encoder development has a lot, wherein coded system and detector are two key factors, change traditional coding method, develop and help the important channel that electronic fine-grained small size code-disc is the development of promotion shaft-position encoder, requirement for detector, want the matching coding dish on the one hand, can effectively differentiate the topography of code-wheel, be convenient to electronic fine-grainedly, on the one hand require real-time good in addition, be the response frequency height, can more help real-time processing like this.The reduction system size improves resolution, reduces the response time, and this is the development trend of optical electric axial angle encoder.
Summary of the invention
In order to overcome the problem that exists in the background technology, the purpose of this utility model is to provide a kind of absolute shaft encode system based on detector array.
The technical scheme in the invention for solving the technical problem is:
The utility model comprises light source, rotating shaft, code-wheel, object lens, detector array and data processing circuit; Code-wheel is installed in the rotating shaft, light source places a side of code-wheel, the opposite side of code-wheel is provided with image-forming objective lens and detector array successively, code-wheel, image-forming objective lens and detector array three install and need satisfy image position relation, after detector array obtains code-wheel topography information after the amplification, pass to data processing circuit, data processing circuit to the image information analyzing and processing after, output angle information.
Described code-wheel, based on binary code, with the window of printing opacity and shading represent respectively in the binary code " 1 and " 0 ", its coded system adopts single-ring absolute type coding, and whole code-disc has only a circle code channel, along the circumferential direction is divided into 2
nIndividual zone, promptly 2
nGroup coding.The angular breadth of every group coding is
It is made up of n position coding groove and 1 separation groove.Separating groove is that angular breadth is θ
1Optical transmission window, it as a token of is used for distinguishing two adjacent groups coding, the coding groove homogeneous phase elongation width of separating groove and the right and left is θ
2Angular spacing, the coding groove is made up of n window, each window has two kinds of possible states: printing opacity and shading, represent binary one and " 0 " respectively, the angular breadth of each window is θ
3, whole code channel 2
nThe group coding groove adopts n position natural binary code to encode.The angular relationship of every group coding satisfies
θ
1, θ
2And θ
3The three is all unequal.
Described data processing circuit comprises the detector array control module, and data reception module is separated thick sign indicating number module, separates thin sign indicating number module, obtains angle information module and data outputting module; The detector array control module that is used to export control signal is connected with detector array respectively with the data reception module that is used for the receiving array detector data, data reception module is conciliate after the thin sign indicating number module and is obtained the angle information module and be connected through separating thick sign indicating number module respectively, obtains the angle information module and is connected with data outputting module.
The beneficial effect that the utlity model has is:
1, adopt a kind of coded system of single-ring absolute type, it can reach the minimizing code channel, dwindles the purpose of code-wheel size.
2, adopt detector array as receiving element, on the one hand, can segment the thick sign indicating number information that is received, on the one hand, its response frequency is higher, can well satisfy the high requirement of response frequency in addition.
3, adopt hardware circuit as data processing unit, characteristics such as it is good that it has real-time, and response speed is fast, and volume is little.
4, between code-wheel and detector array, add an image-forming objective lens, be used to amplify code-wheel topography, under identical systems size situation, can effectively improve systemic resolution on the one hand, in addition on the one hand, solved and improve thick code distinguishability and improve contradiction between the thin code distinguishability.
Description of drawings
Fig. 1 is a general structure principle schematic of the present utility model;
Fig. 2 is the code-wheel overall schematic;
Fig. 3 is the local enlarged diagram of code-wheel;
Fig. 4 is the code-wheel local size;
Fig. 5 is the principle that reads of segmentation sign indicating number;
Fig. 6 is the data processing circuit block diagram.
Among the figure: 1, light source, 2, rotating shaft, 3, code-wheel, 31, every group coding, 32, separate groove, 33, n position coding groove, 34, angular spacing, 35, the pixel scale, 36, reference line, 4, object lens, 5, detector array, 6, data processing circuit, 61, detector array control module, 62, data reception module, 63, separate thick sign indicating number module, 64, separate thin sign indicating number module, 65, obtain the angle information module, 66, data outputting module.
Embodiment
Below in conjunction with drawings and Examples the utility model is described further:
As shown in Figure 1, the utility model comprises light source 1, rotating shaft 2, code-wheel 3, object lens 4, detector array 5 and data processing circuit 6; Code-wheel 3 is installed in the rotating shaft 2, light source 1 places a side of code-wheel 3, the opposite side of code-wheel 3 is provided with image-forming objective lens 4 and detector array 5 successively, code-wheel 3, image-forming objective lens 4 and detector array 5 threes install and need satisfy image position relation, after detector array 5 obtains code-wheel topography information after the amplification, pass to data processing circuit 6, after 6 pairs of image information analyzing and processing of data processing circuit, output angle information.
One, code-wheel
As Fig. 2, Fig. 3, shown in Figure 4, whole code-disc has only a circle code channel, along the circumferential direction be divided into 128 zones, i.e. 128 group codings, the angular breadth of every group coding 31 is 168 ' 45 "; separate groove 32 by 7 coding grooves 33 and 1 and form; separate groove 32 and be angular breadth and be 8 ' optical transmission window; it is used for distinguishing adjacent two codings; the coding groove 33 homogeneous phase elongation width of separating groove 32 and the right and left are 20 ' angular spacing 34; groove 33 of encoding is made up of 7 windows, each window has two kinds of possible states: printing opacity and shading, represent binary one and " 0 " respectively, the angular breadth of each window is 17 ' 15 ", 128 groups 7 coding grooves adopt natural binary code to encode.
Two, angle measuring principle
Code-wheel 3 amplifies by object lens 4, its topography is imaged on the detector array 5, for guaranteeing to have at least two separation grooves to appear in the detector array, help simultaneously follow-up pixel segmentation again, selected size is that two zones (whole circumference is divided into 128 zones) are imaged on the detector.
At first, from the information that detector array 5 is obtained, carry out the A/D conversion and obtain the binaryzation data.
Find out two adjacent separation grooves 32 according to the live width of separator bar and coding groove is different then, obtain 7 coded datas 33 between the two adjacent separation grooves then, can obtain the thick sign indicating number of the absolute information of angle, suppose that the pairing decimal value of the natural binary code that is obtained is N, then thick sign indicating number reading is
As shown in Figure 5, the obtain manner of thin sign indicating number is as follows, supposes that the two adjacent separator bars that detect have covered m pixel on detector array, respectively by 0,1,2 ..., the m-1 numbering, if the pixel sequence number of detection line 36 positions is m ', the reading of segmentation sign indicating number is so
Thereby final taking measurement of an angle can be expressed as:
Three, data processing circuit
As shown in Figure 6, described data processing circuit 6 comprises detector array control module 61, and data reception module 62 is separated thick sign indicating number module 63, separates thin sign indicating number module 64, obtains angle information module 65 and data outputting module 66; Both are connected the detector array control module 61 that is used to export control signal and the data reception module that is used for the receiving array detector data 62 with detector array 5 respectively, data reception module 62 is conciliate thin sign indicating number module 64 backs and is obtained angle information module 65 and be connected through separating thick sign indicating number module 63 respectively, obtains angle information module 65 and is connected with data outputting module 66.
Hardware system adopts programmable logic device (PLD) FPGA as main chip, according to detector array 5 requirements, the detector array control module 61 of FPGA produces control signal, drive detector array 5 work, code-wheel 3 partial enlarged drawings that detector array 5 is collected are received by the data reception module 62 of FPGA as information, code-wheel 3 characteristics according to claim 2, FPGA decodes by separating the thin sign indicating number of thick sign indicating number module 63 a reconciliation module 64 respectively to the data that receive, both gained results combine and calculate the angle result by obtaining angle information module 65, by data outputting module 66 exportable angle results.
Claims (3)
1. the absolute shaft encode system based on detector array is characterized in that: comprise light source (1), rotating shaft (2), code-wheel (3), object lens (4), detector array (5) and data processing circuit (6); Code-wheel (3) is installed in the rotating shaft (2), light source (1) places a side of code-wheel (3), the opposite side of code-wheel (3) is provided with image-forming objective lens (4) and detector array (5) successively, code-wheel (3), image-forming objective lens (4) and detector array (5) three install and need satisfy image position relation, after detector array (5) obtains code-wheel topography information after the amplification, pass to data processing circuit (6), data processing circuit (6) to the image information analyzing and processing after, output angle information.
2. a kind of absolute shaft encode system according to claim 1 based on detector array, it is characterized in that: described code-wheel (3), based on binary code, represent " 1 and " 0 "; its coded system adopts single-ring absolute type coding; whole code-disc has only a circle code channel, along the circumferential direction is divided into 2 in the binary code respectively with the window of printing opacity and shading
nIndividual zone, promptly 2
nGroup coding.The angular breadth of every group coding (31) is
It is made up of n position coding groove (33) and 1 separation groove (32).Separating groove (32) is that angular breadth is θ
1Optical transmission window, it as a token of is used for distinguishing two adjacent groups coding, coding groove (33) the homogeneous phase elongation width of separating groove (32) and the right and left is θ
2Angular spacing (34), coding groove (33) is made up of n window, each window has two kinds of possible states: printing opacity and shading, represent binary one and " 0 " respectively, the angular breadth of each window is θ
3, whole code channel 2
nGroup coding groove (33) adopts n position natural binary code to encode.The angular relationship of every group coding satisfies
θ
1, θ
2And θ
3The three is all unequal.
3. a kind of absolute shaft encode system according to claim 1 based on detector array, it is characterized in that: described data processing circuit (6) comprises detector array control module (61), data reception module (62), separate thick sign indicating number module (63), separate thin sign indicating number module (64), obtain angle information module (65) and data outputting module (66); Be used to export control signal detector array control module (61) and the data reception module that is used for the receiving array detector data (62) both be connected with detector array (5) respectively, data reception module (62) is conciliate thin sign indicating number module (64) back and is obtained angle information module (65) and be connected through separating thick sign indicating number module (63) respectively, obtains angle information module (65) and is connected with data outputting module (66).
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102322882A (en) * | 2011-06-02 | 2012-01-18 | 浙江大学 | Absolute shaft angle encoding system based on array detector |
| CN106482668A (en) * | 2016-11-21 | 2017-03-08 | 班戈设备***（苏州）有限公司 | A kind of angle pinpoint accuracy measuring system and angle-measuring method |
| CN107702738A (en) * | 2017-09-28 | 2018-02-16 | 中国科学院长春光学精密机械与物理研究所 | Corner identifier, angular errors calibration system and method |
| CN108375350A (en) * | 2017-11-09 | 2018-08-07 | 中国航空工业集团公司北京长城计量测试技术研究所 | A kind of high-precision cylinder bullet angle measuring device based on image |
| CN112985475A (en) * | 2021-05-06 | 2021-06-18 | 南京百花光电有限公司 | Photoelectric encoder and photoelectric conversion algorithm thereof |
-
2011
- 2011-06-02 CN CN2011201872502U patent/CN202083361U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102322882A (en) * | 2011-06-02 | 2012-01-18 | 浙江大学 | Absolute shaft angle encoding system based on array detector |
| CN106482668A (en) * | 2016-11-21 | 2017-03-08 | 班戈设备***（苏州）有限公司 | A kind of angle pinpoint accuracy measuring system and angle-measuring method |
| CN107702738A (en) * | 2017-09-28 | 2018-02-16 | 中国科学院长春光学精密机械与物理研究所 | Corner identifier, angular errors calibration system and method |
| CN108375350A (en) * | 2017-11-09 | 2018-08-07 | 中国航空工业集团公司北京长城计量测试技术研究所 | A kind of high-precision cylinder bullet angle measuring device based on image |
| CN108375350B (en) * | 2017-11-09 | 2019-12-24 | 中国航空工业集团公司北京长城计量测试技术研究所 | High-precision barrel elastic angle measuring device based on images |
| CN112985475A (en) * | 2021-05-06 | 2021-06-18 | 南京百花光电有限公司 | Photoelectric encoder and photoelectric conversion algorithm thereof |
| CN112985475B (en) * | 2021-05-06 | 2021-08-24 | 南京百花光电有限公司 | Photoelectric encoder and photoelectric conversion algorithm thereof |
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Granted publication date: 20111221 Termination date: 20130602 |