Absolute encoder parameter calculation method, device and terminal equipment

An absolute encoder and parameter calculation technology, applied in the encoder application field, can solve the problems of the measured number of turns and the measured speed error, the inaccurate positioning of the zero point position of the absolute encoder, etc., and achieve the effect of solving the inaccurate positioning.

Active Publication Date: 2021-06-04
UBTECH ROBOTICS CORP LTD
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

[0004] In view of this, the embodiment of the present invention provides a method, device and terminal equipment for calculating parameters of an absolute encoder, so as to solve the problem of errors in the measured number of turns and the measured speed caused by the inaccurate positioning of the zero point position of the absolute encoder in the prior art The problem

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  • Absolute encoder parameter calculation method, device and terminal equipment
  • Absolute encoder parameter calculation method, device and terminal equipment
  • Absolute encoder parameter calculation method, device and terminal equipment

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Embodiment Construction

[0024] In the following description, specific details such as specific system structures and technologies are presented for the purpose of illustration rather than limitation, so as to thoroughly understand the embodiments of the present invention. It will be apparent, however, to one skilled in the art that the invention may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.

[0025] In order to illustrate the technical solutions of the present invention, specific examples are used below to illustrate.

[0026] There are many engraved lines on the optical code disk of the absolute encoder, and each engraved line is arranged in sequence with 2 lines, 4 lines, 8 lines, 16 lines... In each position of the encoder, by reading each engraved line Through and dark, a group of...

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Abstract

The present invention is applicable to the technical field of encoder application, and provides a method, device and terminal equipment for calculating absolute encoder parameters. The method includes: setting a sampling time interval, and the rotation of the absolute encoder within the sampling time interval is less than half a circle; calculate the rotation speed of the absolute encoder according to the current position of the absolute encoder at the current sampling moment and the historical position at the previous sampling moment; position, calculate the number of rotations of the absolute encoder within the preset time period; realize the calculation of the rotation speed or the number of rotations of the absolute encoder within the sampling time interval, or within the preset time period, regardless of the Whether the absolute encoder rotates back and forth at the zero position will not affect the calculation of the number of turns of the absolute encoder.

Description

technical field [0001] The invention belongs to the technical field of encoder application, and in particular relates to a method, device and terminal equipment for calculating parameters of an absolute encoder. Background technique [0002] Absolute encoders have been more and more widely used in angle measurement, speed measurement and positioning control in various industrial systems because of their unique position, anti-interference, and no power-down memory. For example, the absolute encoder The device is used for positioning and speed measurement on the robot steering gear. [0003] However, when the existing absolute encoder performs positioning and speed measurement, there is a problem of inaccurate zero point position detection. For example, when calculating the number of revolutions of an absolute encoder by using whether it passes through the zero position, it may be that the absolute encoder rotates forward and backward at the zero position, resulting in inaccu...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01D5/347
CPCG01D5/34776
Inventor 熊友军王马林范文华周升
Owner UBTECH ROBOTICS CORP LTD
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