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CN-122015922-A - Encoder structure and displacement detection method

CN122015922ACN 122015922 ACN122015922 ACN 122015922ACN-122015922-A

Abstract

The application provides an encoder structure and a displacement detection method, in particular to the technical field of sensors, comprising an incremental encoder, a sensor and a sensor, wherein the incremental encoder comprises a first code channel, the first code channel comprises a plurality of first light transmission windows which are uniformly distributed at intervals and have consistent effective aperture, and the first code channel can generate a periodic first pulse signal based on an optical signal; the positioning coding piece capable of cooperatively moving with the incremental coding piece comprises at least one second code channel, wherein the second code channel comprises a plurality of second light transmission windows which are distributed at intervals and have different effective apertures, the second code channel can generate second pulse signals based on optical signals, pulse widths corresponding to the second light transmission windows in the same second code channel are different, and the current counting position of the incremental coding piece can be positioned based on the first signal jump position of the forward and backward movement by forward and backward movement of the positioning coding piece and recording the first signal jump position of the forward and backward movement in the same second pulse signal. The application can ensure the detection fault tolerance and realize memory awakening.

Inventors

  • SU WENHUA
  • He Taiyan

Assignees

  • 杭州富芯半导体有限公司

Dates

Publication Date
20260512
Application Date
20260228

Claims (12)

  1. 1. An encoder structure, the encoder structure comprising: the incremental coding part comprises a first code channel, wherein the first code channel comprises a plurality of first light transmission windows which are uniformly distributed at intervals and have consistent effective apertures, and the first code channel can generate a periodic first pulse signal based on an optical signal; the positioning coding piece capable of cooperatively moving with the incremental coding piece comprises at least one second code channel, wherein the second code channel comprises a plurality of second light-transmitting windows which are distributed at intervals and have different effective apertures, the second code channel can generate second pulse signals based on optical signals, pulse widths corresponding to the second light-transmitting windows in the same second code channel are different, and the current counting position of the incremental coding piece can be positioned based on the first signal jump position of the forward and backward movement through forward and backward movement of the positioning coding piece and recording the first signal jump position of the forward and backward movement in the same second pulse signal.
  2. 2. The encoder structure of claim 1, wherein the encoder structure satisfies at least one of the following characteristics: in the same second code channel of the positioning coding piece, starting from the minimum light transmission window of the second code channel, the effective apertures of the second light transmission windows are sequentially increased along the bit sequence; Starting from the pulse corresponding to the minimum light transmission window in the second pulse signal, the pulse high level width corresponding to each second light transmission window is sequentially increased along the bit sequence; The pulse low level width of the first pulse signal is consistent with that of the second pulse signal.
  3. 3. Encoder structure according to claim 2, characterized in that the encoder structure fulfils at least one of the following features: starting from the smallest light transmission window of the second code channel in the same second code channel, the effective apertures of the second light transmission windows are sequentially increased in an equal difference way along the bit sequence; And starting from the pulse corresponding to the minimum light transmission window in the second pulse signal, the pulse high level width corresponding to each second light transmission window is sequentially increased in an equal difference way along the bit sequence.
  4. 4. The encoder structure of claim 1, wherein the encoder structure satisfies at least one of the following characteristics: the effective aperture of the minimum light-transmitting window of the second code channel is larger than or equal to the effective aperture of the first light-transmitting window; the pulse high level width corresponding to the minimum light transmission window of the second code channel is larger than or equal to the pulse high level width of the first light transmission window; The number of the second light transmission openings of different second code channels is consistent with the effective aperture setting of the second light transmission openings; The wave number and the wave shape of the second pulse signal formed by each second code channel are consistent.
  5. 5. The encoder structure of claim 1, wherein the encoder structure satisfies at least one of the following characteristics: if the positioning coding piece comprises at least two second code channels which are output in parallel, the minimum light transmission windows of the second code channels are arranged in a staggered manner; if the positioning coding part comprises at least three second code channels which are output in parallel, the total conversion code number of each second code channel is a positive integer multiple of the conversion code number of the first code channel.
  6. 6. The encoder structure of claim 5, wherein each of the second code tracks is arranged in parallel in order, and a position of a minimum light transmission window of each of the second code tracks is sequentially shifted based on an arrangement bit sequence of the second code tracks.
  7. 7. The encoder structure of any of claims 1-6, wherein the incremental encoder and the positioning encoder are coaxially parallel disk-type incremental encoder, the first code track and the second code track are circumferential code tracks, the plurality of first light-transmitting windows are evenly spaced circumferentially, each second code track of the positioning encoder is concentrically disposed, and the plurality of second light-transmitting windows are circumferentially spaced.
  8. 8. The encoder structure of claim 7, wherein each of the second code channels is set with a phase offset, an angular difference between minimum light transmission windows of two adjacent second code channels is 360 °/n, and n is a number of code channels of the positioning encoder.
  9. 9. The encoder structure of any of claims 1-6, wherein the incremental encoder further comprises a reset window, a minimum light transmission window of a reference track in each of the second tracks being aligned with the reset window.
  10. 10. A displacement detection method applied to the encoder structure of any of claims 1-9, the method comprising: Recording a pulse count of a first pulse signal of an incremental encoder, determining displacement data based on the pulse count; controlling the forward and backward movement of the positioning coding part under the condition that the pulse count of the incremental coding part is lost, and recording the first signal jump position of the forward and backward movement in the same second pulse signal of the positioning coding part; And positioning the current counting position of the increment encoding part based on the first signal jump position of the forward and backward movement.
  11. 11. The displacement detection method according to claim 10, wherein the first signal jump position of the forward and backward movement includes a first edge position and a second edge position of the same pulse high level in the same pulse high level of a target pulse signal, and the target pulse signal is a signal for positioning calculation in at least one second pulse signal; The positioning the current counting position of the increment encoding part based on the first signal jump position of the forward and backward movement comprises the following steps: determining a first signal distance between a current location and the first edge location; Determining target high level width information between the first edge position and the second edge position; And determining the current counting position according to the target high-level width information and the first signal distance in the target pulse signal.
  12. 12. The method according to claim 10, wherein if the positioning encoder includes at least two second code channels, the target pulse signal is a second pulse signal with a shortest high-level pulse width corresponding to a current position among at least two second pulse signals corresponding to the at least two second code channels.

Description

Encoder structure and displacement detection method Technical Field The application relates to the technical field of sensors, in particular to an encoder structure and a displacement detection method. Background The encoder is a sensing device widely applied to mechanical or electronic signal conversion, can be particularly applied to the fields of industrial control systems, digital audio, video, images and the like, and mainly adopts the working principle of converting angular displacement or linear displacement into an electric signal so as to record and detect the displacement. In the prior art, the encoder can be divided into an incremental type and an absolute type, the binary encoding mode is adopted, an equal-width pulse signal is triggered every unit distance, the encoder is simple in encoding structure and not easy to damage, has a certain fault tolerance but has no storage function, and the position is lost after power failure, the principle of the encoder is that a uniquely matched photoelectric signal is sent out at each reference position so as to avoid the position loss after power failure, but the encoding required by the mode is complex, so that the encoder is complex in structure, the complexity is exponentially increased particularly in a high-precision scene, and the encoder is wholly invalid and has poor fault tolerance once single encoding damage exists. Disclosure of Invention The application provides an encoder structure and a displacement detection method, which concretely comprise the following contents. In one aspect, the present application provides an encoder structure comprising: the incremental coding part comprises a first code channel, wherein the first code channel comprises a plurality of first light transmission windows which are uniformly distributed at intervals and have consistent effective apertures, and the first code channel can generate a periodic first pulse signal based on an optical signal; the positioning coding piece capable of cooperatively moving with the incremental coding piece comprises at least one second code channel, wherein the second code channel comprises a plurality of second light-transmitting windows which are distributed at intervals and have different effective apertures, the second code channel can generate second pulse signals based on optical signals, pulse widths corresponding to the second light-transmitting windows in the same second code channel are different, and the current counting position of the incremental coding piece can be positioned based on the first signal jump position of the forward and backward movement through forward and backward movement of the positioning coding piece and recording the first signal jump position of the forward and backward movement in the same second pulse signal. Another aspect provides a displacement detection method, the method comprising: Recording a pulse count of a first pulse signal of an incremental encoder, determining displacement data based on the pulse count; controlling the forward and backward movement of the positioning coding part under the condition that the pulse count of the incremental coding part is lost, and recording the first signal jump position of the forward and backward movement in the same second pulse signal of the positioning coding part; And positioning the current counting position of the increment encoding part based on the first signal jump position of the forward and backward movement. Another aspect provides a displacement detection device, the device comprising: the increment detection module is used for recording pulse counts of a first pulse signal of the increment encoding part and determining displacement data based on the pulse counts; The positioning module is used for controlling the forward and backward movement of the positioning coding piece and recording the first signal jump position of the forward and backward movement in the same second pulse signal of the positioning coding piece under the condition that the pulse count of the incremental coding piece is lost, and positioning the current count position of the incremental coding piece based on the first signal jump position of the forward and backward movement. In another aspect there is provided a computer device comprising a processor and a memory having stored therein at least one instruction or at least one program loaded and executed by the processor to implement a displacement detection method as described above. Another aspect provides a computer readable storage medium having stored therein at least one instruction or at least one program loaded and executed by a processor to implement a displacement detection method as described above. Another aspect provides a computer program product comprising computer instructions which, when executed by a processor, implement a displacement detection method as described above. The encoder structure, the displacement detection method, the device, the equ