小型高分辨力图像式光电编码器原理研究
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摘要
光电轴角编码器又称光电角位移传感器，是一种集光、机、电为一体的数字化测角装置。由于它具有结构简单、高分辨力、高精度等特点，因此被广泛应用于航空航天、国防和科技领域的动态测量和实时控制系统中。随着航空航天技术的发展，不仅要求提高光电轴角编码器的分辨力、测量精度，而且对其体积、重量提出了更加严格的要求。本文研究的图像式光电编码器，通过光学成像技术及数字图像处理技术，缩小了光电编码器的体积，提高了分辨力，对实现航空航天仪器的小型化、高精度具有重要意义。
在参考国内外大量文献资料，了解当今图像式光电轴角编码器研究现状的基础上，深入分析了图像式光电轴角编码器的原理及特点；通过研究光学成像、图形识别及位移检测等技术，为研究图像式光电编码器奠定了理论基础；
本文提出图像式光电编码器的粗码码道和基准码道的设计准则，并采用径向排列的编码方法，使每条码道包含自然二进制粗码单元和基准线，缩小了码盘直径；通过对光学材料的选取，设计出小型图像式光电编码器的光学码盘；
提出采用图像内部区域均衡的质心检测算法及精码细分改进算法实现精码细分，提高了图像式光电编码器的分辨力，并减少了对数据的计算量；
提出图像式光电编码器的粗码识别及纠错算法。通过图像识别技术，以码盘中二进制码元的图像作为光电轴角编码器的粗码信息，并根据粗码信息校正由于码道划损或附着物引起的错码；
设计了图像式光电编码器的信号采集及处理系统。采用面阵图像传感器取替传统的分离式光电接收器件完成信号提取，实现图像式光电编码器的数据采集；由CPLD、DSP和SDRAM等器件构成图像处理电路，将码盘图像信息转换为角度信息。
通过实验对图像式光电编码器的分辨力及精度进行了检测，并对实验结果进行了分析。实验结果表明，运用本文的研究方法，设计出码盘直径为38mm的图像式光电编码器，测角分辨力可达到5″，测角误差峰峰值为61″。
The optical rotary encoder is an instrument for measuring the angular position, whichis also named angular displacement photoelectrical sensor. The devices of optics,mechanics and electricity are integrated in the optical rotary encoder. It is widely usedin the dynamic measurement and real-time control system in the aerospace, defenceand the technology fields, because of its simple structure, high precision andresolution. With the development of space technology, it is not only needed toimprove the measurement accuracy of the optical rotary encoder, but also to controlthe device’s volume and weight. In this thesis, an optical pattern rotary encoder isstudied, which can achieve the miniaturization and high resolution for optical rotaryencoder by optical imaging and digital image processing technology. It is significantfor the aerospace instrument
Firstly, the current research on optical pattern rotary encoder and the analysis about itscharacteristics and principle are described, in reference to a large number of domesticand foreign scientific literatures. And the theory for optical pattern rotary encoder isstudied, including optical imaging, pattern recognition, and displacement detectiontechnology.
Secondly, the design guidelines are given for encoder’s coarse code and precisioncode, which use the binary code unit and the baseline to reduce the code disc’sdiameter. And the encoder’s codes are arranged radially. Through selecting the opticalmaterials, a code disc is designed for the small optical pattern rotary encoder.
Based on balancing the image internal data, the centroid detection algorithm is studiedto calculate the precision code and improve the encoder’s resolution. An improvedalgorithm for the precision codes subdivision is also studied to reduce the amount ofcalculated data.
The coarse code recognition and correction algorithm is also studied. Using imagerecognition technology, the coarse code is calculated by marking the code discimage’s binary code value. Because of scratch or attachment, the error code track canbe detected by recognizing the coarse code.
Thirdly, the data acquisition and processing system of the optical pattern rotaryencoder is designed. The array image sensor which replaces the traditional separationof optical receiver devices receives the image signal as the encoder’s data. The imageprocessing circuit which includes CPLD, DSP and SDRAM electronic devicesconverts the image information of the code disc for angular information.
Finally, the optical pattern rotary encoder’s resolution and precision were tested by theexperiment. And the experimental results were analyzed. In the experiment, weapplied this method in an optical pattern rotary encoder which diameter was φ38mm.The results showed that the encoder’s angular resolution reached5arcseconds and thepeak to peak value of the angular measurement error was61arcseconds.
在参考国内外大量文献资料，了解当今图像式光电轴角编码器研究现状的基础上，深入分析了图像式光电轴角编码器的原理及特点；通过研究光学成像、图形识别及位移检测等技术，为研究图像式光电编码器奠定了理论基础；
本文提出图像式光电编码器的粗码码道和基准码道的设计准则，并采用径向排列的编码方法，使每条码道包含自然二进制粗码单元和基准线，缩小了码盘直径；通过对光学材料的选取，设计出小型图像式光电编码器的光学码盘；
提出采用图像内部区域均衡的质心检测算法及精码细分改进算法实现精码细分，提高了图像式光电编码器的分辨力，并减少了对数据的计算量；
提出图像式光电编码器的粗码识别及纠错算法。通过图像识别技术，以码盘中二进制码元的图像作为光电轴角编码器的粗码信息，并根据粗码信息校正由于码道划损或附着物引起的错码；
设计了图像式光电编码器的信号采集及处理系统。采用面阵图像传感器取替传统的分离式光电接收器件完成信号提取，实现图像式光电编码器的数据采集；由CPLD、DSP和SDRAM等器件构成图像处理电路，将码盘图像信息转换为角度信息。
通过实验对图像式光电编码器的分辨力及精度进行了检测，并对实验结果进行了分析。实验结果表明，运用本文的研究方法，设计出码盘直径为38mm的图像式光电编码器，测角分辨力可达到5″，测角误差峰峰值为61″。
The optical rotary encoder is an instrument for measuring the angular position, whichis also named angular displacement photoelectrical sensor. The devices of optics,mechanics and electricity are integrated in the optical rotary encoder. It is widely usedin the dynamic measurement and real-time control system in the aerospace, defenceand the technology fields, because of its simple structure, high precision andresolution. With the development of space technology, it is not only needed toimprove the measurement accuracy of the optical rotary encoder, but also to controlthe device’s volume and weight. In this thesis, an optical pattern rotary encoder isstudied, which can achieve the miniaturization and high resolution for optical rotaryencoder by optical imaging and digital image processing technology. It is significantfor the aerospace instrument
Firstly, the current research on optical pattern rotary encoder and the analysis about itscharacteristics and principle are described, in reference to a large number of domesticand foreign scientific literatures. And the theory for optical pattern rotary encoder isstudied, including optical imaging, pattern recognition, and displacement detectiontechnology.
Secondly, the design guidelines are given for encoder’s coarse code and precisioncode, which use the binary code unit and the baseline to reduce the code disc’sdiameter. And the encoder’s codes are arranged radially. Through selecting the opticalmaterials, a code disc is designed for the small optical pattern rotary encoder.
Based on balancing the image internal data, the centroid detection algorithm is studiedto calculate the precision code and improve the encoder’s resolution. An improvedalgorithm for the precision codes subdivision is also studied to reduce the amount ofcalculated data.
The coarse code recognition and correction algorithm is also studied. Using imagerecognition technology, the coarse code is calculated by marking the code discimage’s binary code value. Because of scratch or attachment, the error code track canbe detected by recognizing the coarse code.
Thirdly, the data acquisition and processing system of the optical pattern rotaryencoder is designed. The array image sensor which replaces the traditional separationof optical receiver devices receives the image signal as the encoder’s data. The imageprocessing circuit which includes CPLD, DSP and SDRAM electronic devicesconverts the image information of the code disc for angular information.
Finally, the optical pattern rotary encoder’s resolution and precision were tested by theexperiment. And the experimental results were analyzed. In the experiment, weapplied this method in an optical pattern rotary encoder which diameter was φ38mm.The results showed that the encoder’s angular resolution reached5arcseconds and thepeak to peak value of the angular measurement error was61arcseconds.
引文
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