Encoder for encoding a video signal
阅读说明:本技术 编码器 (Encoder for encoding a video signal ) 是由 渡部司 于 2018-08-13 设计创作,主要内容包括:编码器10设置为:M个传感器31~34,将以预定角度间隔配置于基体的表示角度的多个组件予以检测而生成具有周期性的第一信号,M个传感器以预定角度配置,预定角度为360/M×(j-1)(度)与360/N×MOD[(k<Sub>j</Sub>-1)/D](度)所组合出的角度,其中M为2以上的整数,N为组件数量,MOD为将输入值的小数点以下的值输出的函数,D为M的因子或是为M但是不为1,j为在1至M的整数中由M个传感器取各自相异的值,k<Sub>j</Sub>为1至M的整数;生成器41~44,对M个传感器的每一个传感器,基于第一信号而生成第二信号,第二信号内插预定角度间隔;以及运算器50,将对于M个传感器的第二信号合并运算而求得角度位置或旋转角。(The encoder 10 is arranged to: m sensors 31 to 34 arranged at predetermined angles, the predetermined angles being 360/Mx (j-1) (DEG) and 360/NxMOD [ (k) and arranged at predetermined angles, and detecting a plurality of elements arranged at predetermined angular intervals on a substrate and indicating the angles to generate a first signal having periodicity j ‑1)/D](degree) where M is an integer of 2 or more, N is the number of elements, MOD is a function of the output of a value of a decimal point or less of the input value, D is a factor of M or M but not 1, j is a value which is different from each other among the integers 1 to M and is taken by the M sensors, k is a value which is different from each other among the integers 1 to M j Is an integer from 1 to M; generators 41 to 44 for generating a second signal based on the first signal for each of the M sensors, the second signal being interpolatedFixing angle intervals; and an arithmetic unit 50 for calculating the angular position or the rotational angle by combining the second signals for the M sensors.)
1. An encoder, comprising:
m sensors for detecting a plurality of elements arranged on a substrate at predetermined angular intervals and representing angles, and generating a first signal having periodicity, wherein the M sensors are arranged at predetermined angles, and the predetermined angles are 360/Mx (j-1) (degree) and 360/NxMOD [ (k) j-1)/D](degree) wherein M is an integer of 2 or more, N is the number of elements, MOD is a function of an output of a value of a decimal point or less of an input value, D is a factor of M or M but not 1, j is a value different from each other for M of the sensors in an integer of 1 to M, k is jIs an integer from 1 to M;
a generator that generates, for each of the M sensors, a second signal based on the first signal, the second signal interpolating the predetermined angular interval; and
and an arithmetic unit for calculating an angular position or a rotation angle by combining the second signals for the M sensors.
2. The encoder of claim 1, wherein the substrate is a disk-shaped scale, and the component arrangements are arranged in a circumferential direction.
3. An encoder, comprising:
m sensors for detecting a plurality of elements arranged on a substrate at predetermined intervals to generate a periodic first signal, wherein the M sensors are arranged at predetermined intervals from each other, and the predetermined intervals are integers (M) of the predetermined intervals (gl) j) Multiple of gl × m jAnd gl × MOD [ (k) j-1)/D]The combined positions where M is an integer of 2 or more, MOD is a function of the output of values below the decimal point of the input value, D is a factor of M or is M but not 1, k jIs an integer from 1 to M;
a generator that generates, for each of the M number of the sensors, a second signal between components interpolated at the predetermined intervals based on the first signal; and
and an arithmetic unit for calculating a position or a movement amount by combining the second signals for the M sensors.
4. The encoder according to claim 3, wherein a plurality of the components are arranged in the same direction on the base.
5. The encoder of any of claims 1 to 4, wherein said k is jThe M sensors have different values.
6. The encoder of any one of claims 1 to 5, wherein the D is M.
7. The encoder of any one of claims 1 to 6, wherein the assembly is constituted by a slit for passing light, a member for reflecting light, or a member for absorbing light, and a plurality of the sensors are optical sensors.
8. The encoder according to any one of claims 1 to 6, wherein the component is a convex member or a magnet member made of a ferromagnetic body, and the plurality of sensors are proximity sensors that magnetically detect the convex member or the magnet member.
Technical Field
The present invention relates to an encoder for detecting a position and an angle.
Background
The encoder is a device that reads scales marked on a scale at equal angular intervals to measure positions such as a rotation angle and an absolute angular position. The precision of the scale interval is limited according to the precision of the scribing or the precision of the sensor for detecting the scale, so that the resolution improvement caused by the scale is limited. Therefore, a sine wave further divided into the minimum scale intervals is generated by two analog signals shifted from each other by 90 degrees in phase, and an arctan operation of the two analog signals is performed to determine an angle using an interpolation signal indicating the angle, thereby improving the resolution.
In order to reduce scale scribing errors, encoder mounting errors, and the like, a method is used in which a plurality of sensors are arranged and interpolation signals obtained from the respective sensors are averaged. Further, a method of providing a sensor for correction to perform self-correction of an angle error has been proposed (for example, refer to patent document 1).
[ Prior art documents ]
[ patent document ]
[ patent document 1] Japanese patent application laid-open No. 2011-
Disclosure of Invention
[ problems to be solved by the invention ]
The present invention aims to provide a novel and useful encoder capable of achieving both high resolution and high precision.
According to an aspect of the present invention, there is provided an encoder comprising: m sensors for detecting a plurality of elements arranged on a substrate at predetermined angular intervals and representing angles, and generating a first signal having periodicity, wherein the M sensors are arranged at predetermined angles, and the predetermined angles are 360/Mx (j-1) (degree) and 360/NxMOD [ (k)
j-1)/D](degree) where M is an integer of 2 or more, N is the number of elements, MOD is a function of the output of a value of a decimal point or less of the input value, D is a factor of M or M but not 1, j is a value which is different from each other among the
According to the above aspect, the M sensors are arranged at 360/M × (j-1) (degrees) and 360/N × MOD [ (k) by arranging them at predetermined angular intervals with respect to the base body in which the plurality of components representing the angle are arranged j-1)/D]The angular position of the combined angle can reduce the angular error of the encoder caused by the angular error of the second signal generated based on the first signal generated by the sensor and interpolated at the predetermined angular interval, and also reduce the angular error of the encoder caused by the eccentricity due to the mounting of the rotary shaft to the base and the error of the positions where the plurality of units are arranged at the same angular interval, and as a result, the encoder having both high resolution and high precision can be provided.
According to another aspect of the present invention, there is provided an encoder comprising: m sensors for detecting a plurality of elements arranged on a substrate at predetermined intervals to generate a periodic first signal, wherein the M sensors are arranged at predetermined intervals from each other, and the predetermined intervals are integers (M) of the predetermined intervals (gl) j) Multiple of gl × m jAnd gl × MOD [ (k) j-1)/D]The combined positions where M is an integer of 2 or more, MOD is a function of the output of values below the decimal point of the input value, D is a factor of M or is M but not 1, k jIs an integer from 1 to M; a generator that generates, for each of the M number of the sensors, a second signal between components interpolated at the predetermined intervals based on the first signal; and an arithmetic unit that combines the second signals for the M sensors to obtain a position or a movement amount.
According to the above aspect, the M sensors are arranged at an integer (M) of a predetermined interval (gl) with respect to the base in which the plurality of modules indicating the positions are arranged at the predetermined interval j) Multiple gl×m jAnd gl × MOD [ (k) j-1)/D]The combined position can reduce the position error of the encoder caused by the position error of the second signal generated based on the first signal generated by the sensor and interpolated by the predetermined interval, and can also reduce the position error of the encoder caused by the installation of the object on the base and the error of the forming position of the plurality of components arranged at the predetermined interval, and as a result, the encoder having both high resolution and high precision can be provided.
Drawings
Fig. 1 is a diagram showing an angular error of a rotary encoder.
FIG. 2 is a diagram showing a Discrete Fourier Transform (DFT) analysis of the angle error shown in FIG. 1 of the rotary encoder.
Fig. 3 is a diagram showing an angle error of an interpolation signal included in fig. 1 of the rotary encoder.
Fig. 4 is a diagram showing a schematic configuration of an encoder according to a first embodiment of the present invention.
Fig. 5 is a diagram showing the arrangement position of a sensor of an encoder according to a first embodiment of the present invention.
Fig. 6 is a diagram showing an example of the arrangement position of each sensor in the first embodiment of the present invention.
Fig. 7 is a diagram showing an angle error of an interpolation signal in an encoder according to a first embodiment of the present invention.
Fig. 8 is a diagram showing an angular error of an encoder according to the first embodiment of the present invention.
Fig. 9 is a diagram showing DFT analysis of an angle error of an encoder according to the first embodiment of the present invention.
Fig. 10 is a diagram showing a schematic configuration of an encoder according to a second embodiment of the present invention.
FIG. 11 is a diagram showing an example of the arrangement positions of the respective sensors in the second embodiment of the present invention.
Detailed Description
The present inventors have studied to achieve high resolution and high precision of a rotary encoder, and have faced the problems described below and found a solution to the problems.
In the rotary encoder, a scale having scales covering 360 degrees is read by a sensor, and a sine wave and a cosine wave are generated based on the scales to generate a signal between interpolated scales (hereinafter referred to as an interpolated signal). Then, an angle signal is generated based on the interpolation signal, and the angle or the rotation angle at which the angle signal appears is detected from the angle signal. In the case where a plurality of sensors are provided, the angle signals from the respective sensors are averaged to obtain the angle. The interpolated signal is used for detecting angles smaller than the minimum scale, in other words for high resolution.
A rotary encoder reduces an eccentricity error of the rotary encoder and an error of an angular position of each scale of a dial by arranging a plurality of sensors at equal angular intervals on the dial and averaging a plurality of output angle signals. However, once the angular error of the rotary encoder is examined, the angular error remains, which is an obstacle to high precision. The present inventors examined the angular error of a rotary encoder in which 4 sensors are arranged at equal angular intervals of 90 degrees. The scale number N of the scale is 360, in other words, the scale is provided at equal intervals at intervals of 1 degree, and is an integral multiple of 32 by interpolating the signal. The 4 sensors detect signals containing the basic scale and the angle error generated by the interpolation division in accordance with the rotation of the dial.
Fig. 1 is a diagram showing an angular error of a rotary encoder, which is an angular error obtained by averaging angular signals from 4 sensors. Referring to fig. 1, it can be seen that the angular error is ± 30 seconds at the maximum over 360 degrees (one week).
Fig. 2 is a diagram showing a Discrete Fourier Transform (DFT) analysis of the angle error shown in fig. 1 of the rotary encoder.
As can be seen from fig. 2, the low-order portion is small, and is effective in reducing the eccentricity error and the angle error of the scale. However, the angular errors of the 360, 720, 1080, 1440 and 1800 fractions were large, ranging from 2 seconds to 11 seconds. These angular error portions are generated as angular errors of the interpolation signal, since the number of sensors M is 4 and the number of scales N is 360, and the number of sensors M is a factor of the number of
As one method of reducing the angle error of such an interpolation signal, the number of sensors may be 7 or 13 arranged at equal angular intervals. 7 is not a factor of the
Fig. 3 is a diagram showing angle errors of the interpolation signal included in fig. 1 for each sensor, fig. 3 is a diagram showing only angle errors of the interpolation signal among the angle errors separately for each sensor, the horizontal axis is an angle (degrees), the vertical axis is an angle error (seconds), and the position of a black triangle (▲) shows the position of the scale of the dial.
As can be seen from fig. 3, the waveforms of the angular errors of the
Accordingly, an object of the present invention is to provide an encoder that reduces an angle error of an interpolation signal by mutually shifting positions of a plurality of sensors with respect to a scale of a dial and that achieves both high resolution and high precision.
An embodiment of the present invention is described below with reference to the drawings. In addition, the same reference numerals are assigned to the common components among the plurality of drawings, and the repeated detailed description of the components is omitted.
[ first embodiment ]
Fig. 4 is a diagram showing a schematic configuration of an encoder according to the first embodiment of the present invention.
Referring to fig. 4, the
The
Each of the
The
Fig. 5 is a diagram showing the arrangement position of the sensor of the encoder according to the first embodiment of the present invention.
Referring to FIG. 5, the detection positions of the
θ j=360/M×(j-1),(j=1,2,...,M)…(2)
δ kj=360/N×MOD[(k j-1)/D](k j=1,2,...,M)…(3)
Wherein j is an integer of 1 to M assigned to the
MOD in
Further, a modification of the
In FIG. 5, 4
Fig. 6 is a diagram showing an example of the arrangement positions of the respective sensors in the first embodiment of the present invention, and the arrangement positions of the respective sensors shown in fig. 5 are enlarged. FIGS. 6 (a) to (d) show the positions of the
Referring to (a) to (d) of FIG. 6,
The sensor 31:
the sensor 32:
the sensor 33:
the sensor 34:
fig. 7 is a diagram showing an angle error of an interpolation signal in the encoder according to the first embodiment of the present invention. Referring to FIG. 7, it can be seen that the waveforms of the angle errors of the interpolation signals of the sensors 11 to 14 are shifted from each other by 1/4 degrees (0.25 degrees) in phase, and reflect δ of the arrangement of the
Fig. 8 is a diagram showing an angular error of the encoder according to the first embodiment of the present invention.
Referring to fig. 8, it can be seen that the angular error of the encoder, up to ± 16 seconds, is about 1/2 relative to the angular error of fig. 1 shown previously.
Fig. 9 is a diagram showing DFT analysis of an angle error in the encoder according to the first embodiment of the present invention, and the angle error in fig. 8 is subjected to DFT analysis.
Referring to fig. 9, it can be seen that the angular errors of the 360, 720, 1080, and 1800 fractions, which are multiples of 360 times the number of graduations, are less than 2 seconds, and particularly, the 360 fraction is reduced to 6% and the 720 fraction is reduced to 9% with respect to fig. 2. This clearly indicates the efficacy of the present embodiment.
As a modification (first modification) of the arrangement positions of the
In addition, as another modification (modification two) of the sensor arrangement position, θ of
Further, as another modification (modification three), when D of
According to the present embodiment, the plurality of
In this embodiment, although a transmissive optical sensor is used, a reflective optical sensor may be used instead in which a scale is indicated by a dial and optical contrast is used between the scale and the other portions. For example, a dial in which a portion of the scale has a higher or lower reflectance (in other words, a higher absorption rate) than other portions.
The present embodiment can also be applied to a magnetic encoder in which an optical sensor and a dial are replaced with a magnetic sensor and a magnetic scale. The plurality of magnetic sensors for detecting the magnetic scale may be arranged in the same manner as the optical sensor described above.
The
[ second embodiment ]
Fig. 10 is a diagram showing a schematic configuration of an encoder according to a second embodiment of the present invention.
Referring to fig. 10, an
The
The
The
Fig. 11 is a diagram showing an example of arrangement positions of respective sensors in the second embodiment of the present invention. FIGS. 11 (a) to (c) show the positions of the
Referring to fig. 11, the detection positions of the
p(j,k j)=L j+δ kj…(5)
L j=gl×m j…(6)
δ kj=gl×MOD[(k j-1)/D](k j=1,2,...,M)…(7)
Wherein j is an integer of 1-M assigned to the sensors 131-133. m is
jFor the integers, different integers are selected for j. D is a factor of M or is M (but not 1). gl is the scale interval. M is the number of sensors, and is 3 in the second embodiment. MOD is a function for outputting a value equal to or smaller than the decimal point of the input value, and is similar to the first embodiment. Further, a modification of the
As shown in FIGS. 11 (a) to (c),
The sensors 131: p (1, k) 1)=L 1+δ k1=0+0=0
The sensor 132: p (2, k) 2)=L 2+δ k2=gl×10+gl×1/3=(10+1/3)×gl
The sensors 133: p (3, k) 3)=L 3+δ k3=gl×20+gl×2/3=(20+2/3)×gl
The
As a modification (fourth modification) of the arrangement positions of the
According to the present embodiment, the plurality of
In the present embodiment, transmissive sensors and dials may be used instead of the
Although the preferred embodiments of the present invention have been described above in detail, the present invention is not limited to the specific embodiments, and various modifications and changes can be made within the scope of the present invention described in the claims. For example, in the first embodiment and the second embodiment, the technical ideas and modifications described in one embodiment may be combined with those of the other embodiment.
Description of the symbols
10. 100 encoder
20. 120 dial
21. 121 scale
31-34, 131-133 sensor
41-44, 141-143 interpolation signal generator
50. 150 arithmetic unit
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