CN-121994302-A - Code band position and speed identification method and system

CN121994302ACN 121994302 ACN121994302 ACN 121994302ACN-121994302-A

Abstract

The invention belongs to the technical field of industrial measurement, and particularly relates to a code band position and speed identification method and system. The method comprises the following steps of constructing and storing a standard coding model adapting to a current identification program, carrying out continuous beam scanning sampling on a code band according to a preset sampling period, collecting a light intensity change signal representing a physical structure of the code band, converting the light intensity change signal into a discretized one-dimensional time sequence photoelectric signal, preprocessing the one-dimensional time sequence photoelectric signal, comparing the preprocessed one-dimensional time sequence photoelectric signal with the standard coding model by adopting a continuous sampling frame matching mode with a multistage filtering fault-tolerant mechanism, determining an absolute position and an accurate position of a current scanning segment in the code band, and calculating the running speed of a moving target based on the displacement change quantity and the sampling period of a matching result of the continuous sampling frame. The invention can solve the problems of insufficient adaptation flexibility, poor stability and weak anti-interference capability of the existing code band detection system in a complex environment.

Inventors

ZHU JIACHEN
WANG DI
DONG QUAN
QIAN YIQING
YANG ZHONGHAI
ZHANG XIAOCONG
SHEN ZHIFEI
WEN YUEFEI

Assignees

苏州光码未来智能科技有限公司

Dates

Publication Date: 20260508
Application Date: 20260204

Claims (10)

1. The code band position and speed identifying method is characterized by comprising the following steps: constructing and storing a standard coding model adapting to the current identification program; Continuous light beam scanning sampling is carried out on the code bands according to a preset sampling period, light intensity change signals representing the physical structure of the code bands are collected, and the light intensity change signals are converted into discretized one-dimensional time sequence photoelectric signals; preprocessing the one-dimensional time sequence photoelectric signal; Comparing the preprocessed one-dimensional time sequence photoelectric signals with the standard coding model by adopting a continuous sampling frame matching mode with a multi-stage filtering fault-tolerant mechanism, and determining the absolute position and the accurate position of the current scanning segment in a code band; and calculating the running speed of the moving object based on the displacement variation and the sampling period of the matching result of the continuous sampling frames.
2. The code band position and speed identifying method according to claim 1, wherein the step of constructing the standard coding model includes obtaining physical structure parameters of a target code band, performing adaptive translation on the physical structure parameters, converting the physical structure parameters into a data coding format recognizable by a program, and generating the standard coding model adapted to a current identifying program.
3. The method for identifying the position and the speed of the code band according to claim 2, wherein the method for obtaining the physical structural parameters of the target code band comprises the steps of carrying out slow scanning acquisition on the target code band through a photoelectric sensing unit or directly reading the design drawing of the target code band.
4. The method of claim 2, wherein the physical structural parameters include hole or non-hole distribution pattern of the code bands, and physical pitch.
5. The method for identifying the position and the speed of a code band according to claim 1, wherein the one-dimensional time sequence photoelectric signals are collected by a receiving end of a photoelectric sensing unit, the spatial distribution of the one-dimensional time sequence photoelectric signals corresponds to the physical structure of the code band of the current scanning section, and the time dimension is related to the motion state of a moving object.
6. The method of claim 1, wherein the preprocessing includes at least one of noise filtering, light intensity normalization processing, or edge enhancement processing.
7. The method for identifying the position and the speed of a code band according to claim 1, wherein the multi-stage filtering fault-tolerant mechanism allows a local error in a preset range between the preprocessed one-dimensional time sequence photoelectric signal and the standard coding model on the premise of ensuring the matching uniqueness, and the local error comprises a signal deviation caused by at least one of code band offset, sampling deviation, illumination fluctuation or mechanical jitter.
8. The code band position and speed recognition method according to claim 1, wherein after the operation speed of the moving object is calculated, the method further comprises a step of correcting a speed result, including: adopting a multi-frame smoothing algorithm to carry out average filtering treatment on sampling frame speed data of continuous preset frames; and establishing a fitting prediction model based on the speed change trend of the historical continuous sampling frames, and correcting the current speed value.
9. A code strip position and velocity identification system comprising: The model construction storage unit is used for constructing a standard coding model adapting to the current identification program and completing storage; the signal acquisition unit is used for carrying out continuous beam scanning sampling on the code bands according to a preset period, acquiring light intensity change signals representing the physical structure of the code bands, and converting the light intensity change signals into discretized one-dimensional time sequence photoelectric signals; The signal preprocessing unit is used for preprocessing the one-dimensional time sequence photoelectric signals; the positioning unit is used for comparing the preprocessed one-dimensional time sequence photoelectric signals with a standard coding model by adopting a continuous sampling frame matching mode with a multi-stage filtering fault-tolerant mechanism, and determining the absolute position and the accurate position of the current scanning section in a code band; And the speed measuring unit is used for calculating the running speed of the moving target based on the displacement variation and the sampling period of the continuous sampling frame matching result.
10. The code band position and speed recognition system according to claim 9, further comprising a speed correction unit for correcting the running speed calculated by the speed measurement unit; The model construction storage unit is also used for acquiring physical structure parameters of a target code band through a slow scanning acquisition or drawing reading mode, and carrying out adaptive translation and format conversion on the physical structure parameters to generate a standard coding model.

Description

Code band position and speed identification method and system Technical Field The invention belongs to the technical field of industrial measurement, and particularly relates to a code band position and speed identification method and system. Background In the fields of industrial automation, rail transit, elevator control, logistics transportation, precise positioning and the like, real-time, continuous and accurate measurement of the current position and running speed of a moving target is often required. In order to achieve the measurement purpose, encoders, magnetic scales, grating scales or code band type displacement measurement devices are commonly adopted in the prior art, wherein the code band type measurement scheme is widely applied due to the advantages of simple structure, unrestricted travel, lower cost and the like. The existing code band detection system usually uses a photoelectric sensor to identify the light transmission or reflection characteristics of the code band surface, calculates the target position information by combining with a preset coding rule, and can realize continuous scanning by adopting a high-speed sampling and multi-sensor combination mode in part of scenes. The method has the advantages that the method has obvious defects, on one hand, the code band model dependence is strong, the adaptation flexibility is insufficient, the universal adaptation capability is lacking, on the other hand, the problems of signal jitter, misjudgment and the like are easy to occur under complex environments such as high-speed motion, vibration, illumination change and the like, in addition, strict one-to-one correspondence is relied on in the code band matching process, once the local code band is stained, shielded or sampled, the matching failure or the mispositioning can be caused, and the measurement requirements of high precision and high stability are difficult to meet. Disclosure of Invention The invention aims to provide a code band position and speed identification method and system, which are used for solving the problems of insufficient adaptation flexibility, poor stability and weak anti-interference capability of the existing code band detection system in a complex environment. In order to achieve the above object, in a first aspect of the present invention, there is provided a method for identifying a code band position and a code band speed, comprising the steps of: constructing and storing a standard coding model adapting to the current identification program; Continuous light beam scanning sampling is carried out on the code bands according to a preset sampling period, light intensity change signals representing the physical structure of the code bands are collected, and the light intensity change signals are converted into discretized one-dimensional time sequence photoelectric signals; preprocessing the one-dimensional time sequence photoelectric signal; Comparing the preprocessed one-dimensional time sequence photoelectric signals with the standard coding model by adopting a continuous sampling frame matching mode with a multi-stage filtering fault-tolerant mechanism, and determining the absolute position and the accurate position of the current scanning segment in a code band; and calculating the running speed of the moving object based on the displacement variation and the sampling period of the matching result of the continuous sampling frames. Further, in the code band position and speed recognition method, the step of constructing the standard coding model comprises the steps of obtaining physical structure parameters of a target code band, carrying out adaptive translation on the physical structure parameters, converting the physical structure parameters into a data coding format which can be recognized by a program, and generating the standard coding model which is adaptive to the current recognition program. Further, in the code band position and speed identification method, the method for acquiring the physical structure parameters of the target code band comprises the steps of carrying out slow scanning acquisition on the target code band through a photoelectric sensing unit or directly reading the design drawing of the target code band. Further, in the code band position and speed identification method, the physical structure parameters include hole or non-hole distribution pattern of the code band and physical pitch. Further, in the code band position and speed identification method, the one-dimensional time sequence photoelectric signals are collected by a receiving end of the photoelectric sensing unit, the spatial distribution of the one-dimensional time sequence photoelectric signals corresponds to the code band physical structure of the current scanning section, and the time dimension is associated with the motion state of the moving object. Further, in the code band position and speed recognition method, the preprocessing includes at least one of noise f