A reflective optical rotary encoder, calibration method and system

Abstract

The present application relates to the technical field of encoder, disclose a kind of reflective optical rotary encoder, calibration method and system, reflective optical rotary encoder in the present application is by being provided with reflecting surface on rotating component, setting mark area on reflecting surface, the light of target wave band is generated or reflected using mark area, calibration spectral channel is set in spectral channel array, the light of target wave band is received using calibration spectral channel and being generated or reflected by mark area, and the intensity of the light of target wave band is received in calibration spectral channel by calibration unit when increasing to target value, the relative displacement of rotating component is calibrated as zero. Thus, cumulative error is eliminated, so as to obtain the absolute position information of rotation.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of encoder, in particular to a reflective optical rotary encoder, a calibration method and system. BACKGROUND

[0002] Reference Figure 1 The conventional optical rotary encoder includes a rotating part 1, a light source and an optical sensor array 2, the rotating part 1 is provided with a reflecting surface 11, and the optical sensor array includes an array of spectral channels, the light emitted by the light source is incident on the reflecting surface 11 and reflected into the spectral channels of the optical sensor array 2.

[0003] Figure 2 (a) is the nth (n≥1) frame image of the optical sensor array in the existing optical rotary encoder, Figure 2 (b) is the n+1 frame image of the optical sensor array in the existing optical rotary encoder; the relative displacement of the two frames of images can be obtained by calculating the displacement of the feature points in the images, and the relative displacement obtained at one time is:

[0004]

[0005] Wherein, dx is the displacement of the feature point in the x direction, and dy is the displacement of the feature point in the y direction.

[0006] Figure 3 (a) is a graph of the change of the cumulative relative displacement (ds_sum) of the existing optical rotary encoder with time when the rotating part rotates in a single direction; it can be seen that when the rotating part 1 rotates in a single direction, the cumulative relative displacement gradually increases with time, and the more the rotation cycles, the larger the cumulative relative displacement. Figure 3 (b) is a graph of the change of the cumulative relative displacement with time when the rotating part of the existing optical rotary encoder rotates randomly left and right; it can be seen that when the rotating part 1 rotates randomly left and right, the cumulative relative displacement changes randomly. Without calibration signal, the cumulative error becomes very large with the passage of time, so as to affect the reading and cause a huge difference from the initial state, so that the absolute position information of rotation cannot be obtained. SUMMARY

[0007] The technical problem to be solved by the present application is to provide a reflective optical rotary encoder which can be calibrated for position and thus obtain absolute position information of rotation.

[0008] In order to solve the above problems, the present application provides a reflective optical rotary encoder, which comprises:

[0009] A rotating part, the rotating part is provided with a reflecting surface, and the reflecting surface is provided with a mark area;

[0010] a light source for generating incident light and for incidenting the incident light on the reflecting surface and the mark area, the reflecting surface being used for reflecting the incident light and forming an image with light and dark changes on the optical sensor array; the mark area being used for reflecting light of a target wave band in the incident light or generating light of a target wave band under the action of the incident light;

[0011] an optical sensor array including a spectrum channel array for receiving the reflected light of the reflecting surface, the spectrum channel array being provided with a calibration spectrum channel, the calibration spectrum channel being used for detecting the light of the target wave band reflected or generated by the mark area;

[0012] a calibration unit for calibrating the relative displacement of the rotating component as zero when the calibration spectrum channel detects that the intensity of the light of the target wave band increases to a target value.

[0013] As a further improvement of the present application, the rotating component is provided with a plurality of mark areas, the plurality of mark areas being respectively used for reflecting or generating light of different target wave bands, the spectrum channel array is provided with a plurality of calibration spectrum channels, the calibration spectrum channels are arranged one by one with the mark areas, and each calibration spectrum channel is used for detecting the light of the corresponding target wave band reflected or generated by the corresponding mark area.

[0014] As a further improvement of the present application, the plurality of mark areas are arranged in a radial direction of the rotating component, and the included angle a formed by any two adjacent mark areas and the rotation axis of the rotating component is:

[0015]

[0016] wherein N is the number of mark areas.

[0017] As a further improvement of the present application, the color of the mark area is the color of the light corresponding to the target wave band, so as to reflect the light corresponding to the target wave band, and the mark area is formed by coating the reflecting surface with a pigment of the same color as the color of the light corresponding to the target wave band; or the mark area is formed by bonding the reflecting surface with a material of the same color as the color of the light corresponding to the target wave band.

[0018] As a further improvement of the present application, the calibration spectrum channel is formed by plating a light filtering film or adding a light filter on the pixel in the spectrum channel array, and the light filtering wave band of the light filtering film or the light filter is consistent with the target wave band.

[0019] The present application also provides a calibration method of a reflective optical rotary encoder, which is applied to the above-mentioned reflective optical rotary encoder, and the calibration method of the reflective optical rotary encoder comprises the following steps:

[0020] S1, the rotating component rotates and drives the reflecting surface to rotate, the light source generates incident light and reflects the incident light on the reflecting surface, and the spectral channel array receives the reflected light of the reflecting surface;

[0021] S2, when the reflecting surface rotates to the calibration position of the mark area, the calibration spectral channel detects the target waveband light reflected or generated by the mark area, and the intensity of the target waveband light gradually increases;

[0022] S3, when the reflecting surface rotates to the calibration position of the mark area, the calibration spectral channel detects that the intensity of the target waveband light increases to a target value, and the calibration unit calibrates the relative displacement of the rotating component to zero.

[0023] The application also provides a reflective optical rotary encoder, which comprises:

[0024] A rotating component, wherein the rotating component is provided with a reflecting surface, and the reflecting surface is provided with a mark area;

[0025] A light source, wherein the light source generates incident light and reflects the incident light on the reflecting surface and the mark area, and the reflecting surface is used to reflect the incident light and form an image with light and dark changes on an optical sensor array; and the mark area is used to absorb light of a target waveband in the incident light;

[0026] An optical sensor array, wherein the optical sensor array comprises a spectral channel array, which is used to receive the reflected light of the reflecting surface, and the spectral channel array is provided with a calibration spectral channel, which is used to detect light of a target waveband in the reflected light of the mark area;

[0027] A calibration unit, which is used to calibrate the relative displacement of the rotating component to zero when the calibration spectral channel detects that the intensity of the target waveband light in the reflected light is lower than a target value.

[0028] As a further improvement of the application, the rotating component is provided with a plurality of mark areas, and the plurality of mark areas are respectively used to absorb light of different target wavebands; the spectral channel array is provided with a plurality of calibration spectral channels, and the calibration spectral channels are one-to-one corresponding to the mark areas; and each calibration spectral channel is used to detect light of a target waveband in the reflected light of a corresponding mark area.

[0029] The application also provides a calibration method of a reflective optical rotary encoder, which is applied to the above-mentioned reflective optical rotary encoder and comprises the following steps:

[0030] S1, the rotating component rotates and drives the reflecting surface to rotate, the light source generates incident light and reflects the incident light on the reflecting surface, and the spectral channel array receives the reflected light of the reflecting surface;

[0031] S2, when the reflecting surface rotates to the mark region approaching the calibration position, the calibration spectrum channel receives light of the target wave band in the reflected light of the mark region, and the intensity of the light of the target wave band gradually decreases;

[0032] S3, when the reflecting surface rotates to the mark region reaching the calibration position, the intensity of the light of the target wave band received by the calibration spectrum channel decreases to a target value, and the calibration unit calibrates the relative displacement of the rotating component to zero.

[0033] The application also provides an encoder system comprising the above-mentioned reflective optical rotary encoder.

[0034] The application has the following beneficial effects:

[0035] The reflective optical rotary encoder of the application sets a reflecting surface on the rotating component, sets a mark region on the reflecting surface, uses the mark region to reflect or generate light of a target wave band, sets a calibration spectrum channel in a spectrum channel array, uses the calibration spectrum channel to receive the light of the target wave band reflected or generated by the mark region, and uses a calibration unit to calibrate the relative displacement of the rotating component to zero when the intensity of the light of the target wave band received by the calibration spectrum channel increases to a target value. Thus, the cumulative error is eliminated, and the absolute position information of rotation is obtained.

[0036] The above description is only a summary of the technical solutions of the application. In order to make the technical means of the application more clear, the application can be implemented according to the content of the description, and in order to make the above and other purposes, features and advantages of the application more obvious and easy to understand, the following preferred embodiments are described in detail below, and the accompanying drawings are described as follows. BRIEF DESCRIPTION OF DRAWINGS

[0037] Figure 1 is a schematic diagram of the existing optical rotary encoder;

[0038] Figure 2 (a) is the nth frame image of the optical sensor array in the existing optical rotary encoder; Figure 2 (b) is the n+1th frame image of the optical sensor array in the existing optical rotary encoder;

[0039] Figure 3 (a) is a graph showing the change of the cumulative relative displacement with time calculated by the existing optical rotary encoder when the rotating component rotates in a single direction; Figure 3 (b) is a graph showing the change of the cumulative relative displacement with time calculated by the existing optical rotary encoder when the rotating component rotates randomly left and right;

[0040] Figure 4This is a schematic diagram of the reflective optical rotary encoder in Embodiment 1 of the present invention;

[0041] Figure 5 This is an image of the optical sensor array in the reflective optical rotary encoder of Embodiment 1 of the present invention;

[0042] Figure 6 This is a graph showing the cumulative relative displacement and the intensity of light received by the target band in the calibration spectral channel over time, calculated by the reflective optical rotary encoder in Embodiment 1 of the present invention when the rotating component rotates in a single direction;

[0043] Figure 7 This is a schematic diagram of the reflective optical rotary encoder in Embodiment 2 of the present invention;

[0044] Figure 8 This is an image of the optical sensor array in the reflective optical rotary encoder of Embodiment 2 of the present invention;

[0045] Figure 9 This is an image of the optical sensor array in the reflective optical rotary encoder of Embodiment 3 of the present invention.

[0046] Marking descriptions: 1. Rotating component; 11. Reflective surface; 2. Optical sensor array; 3. Marking area; 4. Pixel; 5. Calibration spectral channel. Detailed Implementation

[0047] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments described are not intended to limit the present invention.

[0048] Example 1

[0049] Reference Figure 4 This embodiment discloses a reflective optical rotary encoder, which includes a rotating component 1, a light source, an optical sensor array 2, and a calibration unit. Optionally, the light source is a white light source.

[0050] The rotating component 1 has a reflective surface 11, and a marking area 3 is provided on the reflective surface 11. Light from a light source is incident on the reflective surface 11 and the marking area 3. The reflective surface 11 reflects the incident light and forms an image with varying brightness on the optical sensor array 2. The marking area 3 reflects light of the target wavelength band from the incident light, or generates light of the target wavelength band under the influence of the incident light. The reflective surface 11 is non-mirror, allowing the light reflected from it to form an image with contrasting brightness on the optical sensor array 2, enabling the algorithm to find feature points and perform feature encoding.

[0051] The optical sensor array 2 comprises an array of spectral channels for receiving the reflected light of the reflecting surface 11, and a calibration spectral channel is arranged in the array of spectral channels for detecting the light of the target waveband reflected or generated by the mark area 3, and a calibration unit is arranged for calibrating the angle of the rotating component 1 to zero when the intensity of the light of the target waveband detected by the calibration spectral channel increases to a target value.

[0052] Figure 5 is the image of the optical sensor array in the reflective optical rotary encoder in the embodiment. The calibration spectral channel 5 can be implemented by any idle pixel 4. Alternatively, the calibration spectral channel 5 is formed by coating a filter film or adding a filter on the pixel 4 in the array of spectral channels, and the filter waveband of the filter film or filter is consistent with the target waveband.

[0053] Figure 6 is the graph of the cumulative relative displacement calculated by the reflective optical rotary encoder in the embodiment when the rotating component rotates in a single direction and the intensity of the light of the target waveband detected by the calibration spectral channel changes with time. It can be seen that when the rotating component 1 rotates in a single direction, the cumulative relative displacement gradually increases with time within a rotation period. In the embodiment, a mark area 3 is arranged on the rotating component, i.e., the rotating component 1 is calibrated once every 360 degrees of rotation, so as to avoid the increase of the cumulative relative error with the increase of the rotation period.

[0054] Alternatively, the target waveband of the mark area 3 is the red waveband (wavelength range 760nm-622nm), the orange waveband (wavelength range 622nm-597nm), the yellow waveband (wavelength range 597nm-577nm), the green waveband (wavelength range 577nm-492nm), the cyan waveband (wavelength range 492nm-450nm), the blue waveband (wavelength range 450nm-435nm), or the violet waveband (wavelength range 435nm-390nm).

[0055] Similarly, when the rotating component 1 rotates randomly left and right, the cumulative relative displacement changes randomly, but as long as the rotating component 1 rotates 360 degrees in one direction, i.e., calibration is performed once, the cumulative error is prevented from increasing indefinitely.

[0056] Alternatively, the mark area 3 reflects the light of the target waveband in the incident light by the following way: the color of the mark area 3 is the color of the light corresponding to the target waveband, so as to reflect the light corresponding to the target waveband. Further, the mark area 3 is formed by coating the rotating component 1 with a pigment having the same color as the light corresponding to the target waveband; or the mark area 3 is formed by bonding the rotating component 1 with a material having the same color as the light corresponding to the target waveband. In other embodiments, the mark area 3 can also be replaced by an optical element that can reflect light of a specific wavelength.

[0057] The mark area 3 generates light of the target wave band under the action of incident light in the following way:

[0058] I. Photoluminescence

[0059] Photoluminescence can be further divided into fluorescent light and phosphorescent light:

[0060] A) Fluorescent light: The fluorescent agent is a certain normal temperature substance which, when irradiated by a certain wavelength of incident light (usually ultraviolet or X-ray), absorbs light energy to enter an excited state, and immediately de-excites and emits outgoing light (usually with a longer wavelength than the incident light in the visible light wave band). Moreover, once the incident light stops, the light emission phenomenon also immediately disappears.

[0061] B) Phosphorescent light: The phosphorescent agent is a certain normal temperature substance which, when irradiated by a certain wavelength of incident light (usually ultraviolet or X-ray), absorbs light energy to enter an excited state (usually with a different spin multiplicity from the ground state), then slowly de-excites and emits outgoing light with a longer wavelength than the incident light. Unlike the fluorescent process, when the incident light stops, the light emission phenomenon persists, with a decay time greater than 10e -8 seconds.

[0062] Specifically, the present application can use the method of fluorescent light or phosphorescent light to apply a specific wave band fluorescent or phosphorescent agent on the reflecting surface 11 to form the mark area 3, and then according to the requirements of the fluorescent or phosphorescent agent, the light source generates the required corresponding wave band light incident to the mark area 3, and then the mark area 3 generates light of the target wave band.

[0063] II. Quantum dot light emitting technology:

[0064] Quantum dot light emitting technology is a technology that uses the special photoelectric properties of quantum dots (Quantum dot, QD) or semiconductor nanocrystals to produce pure red, green and blue light as three primary colors for display applications. In actual use, a quantum dot film or quantum dot paint containing pre-designed quantum dots for a specific wavelength can be used, attached to the reflecting surface 11 to form the mark area 3, and then by exciting the quantum dots with a laser or LED, the required target wave band light is generated.

[0065] In this embodiment, the rotating part 1 is a cylinder, and the reflecting surface 11 is arranged on the end face or side face of the cylinder. It should be noted that the cylinder here includes a disc, which belongs to a cylinder with a small axial extension, and essentially belongs to a cylinder.

[0066] In other embodiments, the rotating part 1 can be a circular ring, and the reflecting surface 11 is arranged on the end face, inner side face or outer side face of the circular ring.

[0067] The application discloses a reflective optical rotary encoder, which comprises a rotating part 1, a plurality of mark areas 3 arranged on the rotating part 1, a plurality of calibration spectral channels 5 arranged in a spectral channel array, and a calibration unit.

[0068] Embodiment two

[0069] Reference Figure 7 The embodiment discloses a reflective optical rotary encoder, which is different from the reflective optical rotary encoder in the embodiment one in that the reflective optical rotary encoder in the embodiment comprises two mark areas 3 arranged on the rotating part 1, the two mark areas 3 are used for reflecting or generating light of two different target wave bands respectively, the spectral channel array comprises two calibration spectral channels 5, the calibration spectral channels 5 are arranged one by one with the mark areas, and each calibration spectral channel 5 is used for detecting light of a corresponding target wave band reflected or generated by a corresponding mark area. Figure 8 .

[0070] It should be noted that why the two mark areas 3 correspond to light of two different target wave bands instead of light of the same wave band; because, when the two mark areas correspond to light of the same wave band, if the error accumulation speed exceeds the speed that can be recognized by the algorithm, the algorithm cannot recognize from which mark area 3 the calibration signal comes, and error is caused. Especially when it is required to further improve the calibration accuracy, and three or more mark areas 3 are arranged as in the embodiment three, in order to avoid error, it is required that one mark area corresponds to light of one target wave band, so that the system is not affected by the error accumulation speed.

[0071] Further, the two mark areas 3 are arranged in a radial direction of the rotating part 1, and an included angle a formed by the two mark areas 3 and a rotating shaft of the rotating part 1 is 180 degrees, that is, a line connecting the two mark areas 3 passes through the rotating shaft of the rotating part 1. Whether the rotating part 1 rotates in a single direction or rotates randomly left and right, as long as the rotating part 1 rotates 180 degrees in one direction, that is, calibration is performed once, the calibration accuracy is higher than that in the embodiment one.

[0072] Optionally, the target wave bands of the two mark areas 3 are any two wave bands in red light wave bands, orange light wave bands, yellow light wave bands, green light wave bands, cyan light wave bands, blue light wave bands and purple light wave bands.

[0073] Embodiment three

[0074] The embodiment discloses a reflective optical rotary encoder, and the difference between the reflective optical rotary encoder in the embodiment and the reflective optical rotary encoder in the first embodiment lies in that at least three mark areas 3 are arranged on the rotating part 1, the at least three mark areas 3 are respectively used for reflecting or generating light of at least three target wave bands, at least three calibration spectrum channels 5 are arranged in the spectrum channel array, the calibration spectrum channels 5 are arranged in one-to-one correspondence with the mark areas 3, and each calibration spectrum channel 5 is used for detecting light of a corresponding target wave band reflected or generated by a corresponding mark area 3. Figure 9 .

[0075] The at least three mark areas 3 are arranged in a radial direction of the rotating part 1, and an included angle a formed by any two adjacent mark areas 3 and the rotating shaft of the rotating part 1 is:

[0076]

[0077] Wherein, N is the number of the mark areas 3.

[0078] No matter whether the rotating part 1 rotates in a single direction or rotates randomly left and right, as long as the rotating part 1 rotates a in one direction, calibration is performed once, and the calibration accuracy is further improved.

[0079] Embodiment four

[0080] The embodiment discloses a calibration method of a reflective optical rotary encoder, and is applied to the reflective optical rotary encoder in the first embodiment. The calibration method of the reflective optical rotary encoder comprises the following steps.

[0081] S1, the rotating part 1 rotates and drives the reflecting surface 11 to rotate, the light source generates incident light and reflects the incident light on the reflecting surface 11, and the spectrum channel array receives the reflected light of the reflecting surface 11.

[0082] S2, when the reflecting surface 11 rotates to the mark area 3 close to the calibration position, the calibration spectrum channel 5 receives the target wave band light reflected or generated by the mark area 3, and the intensity of the target wave band light gradually increases; refer to Figure 6 In the vicinity of the calibration position, the calibration spectrum channel detects that the intensity of the target wave band light increases, and when far away from the calibration position, the calibration spectrum channel detects that the intensity of the target wave band light decreases.

[0083] S3, when the reflecting surface 11 rotates to the mark area 3 reaching the calibration position, the calibration spectrum channel 5 detects that the intensity of the target wave band light increases to a target value, and the calibration unit calibrates the angle of the rotating part 1 to zero.

[0084] Embodiment five

[0085] The embodiment discloses a reflective optical rotary encoder, and the reflective optical rotary encoder in the embodiment is different from the reflective optical rotary encoder in the first embodiment in that the mark area 3 is used for absorbing light of a target wave band in the incident light; the calibration spectrum channel 5 is used for detecting light of the target wave band in the reflected light of the mark area 3; and the calibration unit is used for calibrating the relative displacement of the rotating part 1 as zero when the calibration spectrum channel 5 detects that the intensity of the light of the target wave band in the reflected light is lower than a target value.

[0086] In the embodiment, the mark area 3 can be implemented by using a wave-absorbing material corresponding to the target wave band.

[0087] In other embodiments, the rotating part 1 is provided with a plurality of mark areas 3, the plurality of mark areas 3 are respectively used for absorbing light of different target wave bands, the spectrum channel array is provided with a plurality of calibration spectrum channels, the calibration spectrum channels are arranged in one-to-one correspondence with the mark areas, and each calibration spectrum channel is used for detecting light of a target wave band in reflected light of a corresponding mark area 3.

[0088] The mechanism of the embodiment is similar to that of the first embodiment, and the difference is that the first embodiment reflects or generates light of the target wave band, so that the light of the target wave band detected by the calibration spectrum channel at the calibration position is enhanced, while the embodiment absorbs light of the target wave band, so that the light of the target wave band detected by the calibration spectrum channel at the calibration position is weakened, thereby achieving calibration.

[0089] Embodiment six

[0090] The embodiment discloses a calibration method of a reflective optical rotary encoder, and is applied to the reflective optical rotary encoder in the fifth embodiment.

[0091] S1, the rotating part 1 rotates and drives the reflecting surface 11 to rotate, the light source generates incident light and reflects the incident light on the reflecting surface 11, and the spectrum channel array receives the reflected light of the reflecting surface 11;

[0092] S2, when the reflecting surface 11 rotates to the mark area 3 close to the calibration position, the calibration spectrum channel 5 receives light of the target wave band in the reflected light of the mark area 3, and the intensity of the light of the target wave band gradually decreases; when the mark area 3 is away from the calibration position, the calibration spectrum channel detects that the intensity of the light of the target wave band increases and is stable, and the intensity of the light of the target wave band detected by the calibration spectrum channel decreases near the calibration position.

[0093] S3, when the reflecting surface 11 rotates to the mark area 3 reaching the calibration position, the calibration spectrum channel 5 detects that the intensity of the light of the target wave band decreases to a target value, and the calibration unit calibrates the angle of the rotating part 1 as zero.

[0094] Example Seven

[0095] The present example discloses an encoder system comprising and utilizing the reflective optical rotary encoder of Example One, Example Two, Example Three, or Example Five for encoding and calibration.

[0096] The above examples are only preferred embodiments of the present application for fully illustrating the present application, the scope of the protection of the present application is not limited thereto. Any equivalent replacement or transformation made by those skilled in the art based on the present application is within the scope of the protection of the present application. The scope of the protection of the present application is subject to the claims.

Claims

1. A reflective optical rotary encoder characterized in that, include: A rotating component, wherein a reflective surface is provided on the rotating component, and a marking area is provided on the reflective surface; A light source generates incident light and projects it onto the reflective surface and the marking area. The reflective surface reflects the incident light and forms an image with varying brightness on the optical sensor array. The marking area reflects light of the target wavelength band in the incident light, or generates light of the target wavelength band under the action of the incident light. An optical sensor array, comprising a spectral channel array for receiving reflected light from the reflective surface, wherein the spectral channel array includes a calibration spectral channel for detecting light of a target wavelength band reflected or generated by the marker area, wherein the calibration spectral channel is formed by depositing a filter film or adding a filter on the pixels in the spectral channel array, wherein the filter wavelength band of the filter film or filter is consistent with the target wavelength band. A calibration unit is used to calibrate the relative displacement of the rotating component to zero when the intensity of light in the target wavelength band detected in the calibration spectral channel increases to the target value.

2. The reflective optical rotary encoder of claim 1, wherein, The rotating component is provided with multiple marking areas, which are used to reflect or generate light of different target wavelengths. The spectral channel array is provided with multiple calibration spectral channels, which are set one-to-one with the marking areas. Each calibration spectral channel is used to receive the light of the corresponding target wavelength reflected or generated by the corresponding marking area.

3. The reflective optical rotary encoder of claim 2, wherein, The plurality of mark regions are arranged radially offset along the rotating component, and an included angle a formed by any two adjacent mark regions and a rotation axis of the rotating component is: Wherein, N is the number of mark regions.

4. The reflective optical rotary encoder of claim 1, wherein, The color of the marked area is the color of the light corresponding to the target wavelength, so as to reflect the light corresponding to the target wavelength.

5. A reflective optical rotary encoder characterized in that, include: A rotating component, wherein a reflective surface is provided on the rotating component, and a marking area is provided on the reflective surface; A light source generates incident light which is incident on the reflective surface and the marking area. The reflective surface reflects the incident light and forms an image with varying brightness on the optical sensor array. The marking area absorbs light of the target wavelength band from the incident light. An optical sensor array, comprising a spectral channel array for receiving reflected light from the reflective surface, wherein the spectral channel array includes a calibration spectral channel for detecting light of a target wavelength in the reflected light from the marked area, and the calibration spectral channel is formed by depositing a filter film or adding a filter on the pixels in the spectral channel array, wherein the filter wavelength of the filter film or filter is consistent with the target wavelength. A calibration unit is used to calibrate the relative displacement of the rotating component to zero when the intensity of the light in the target band of the reflected light is lower than the target value detected in the calibration spectral channel.

6. The reflective optical rotary encoder of claim 1, wherein, The rotating component is provided with multiple marking areas, which are used to absorb light of different target wavelengths. The spectral channel array is provided with multiple calibration spectral channels, which are set one-to-one with the marking areas. Each calibration spectral channel is used to detect the target wavelength in the reflected light of the corresponding marking area.

7. A method of calibrating a reflective optical rotary encoder, applied to a reflective optical rotary encoder as claimed in any one of claims 1-4, characterized in that, Includes the following steps: S1, the rotating component rotates and drives the reflecting surface to rotate, the light source generates incident light and reflects on the reflecting surface, the spectral channel array receives the reflected light of the reflecting surface, and the filter film or filter plate is coated on the pixels in the spectral channel array, the filter band of the filter film or filter plate is consistent with the target wave band to form a calibration spectral channel; S2, when the reflecting surface rotates to the calibration position close to the calibration position, the calibration spectral channel detects the light of the target wave band reflected or generated by the calibration region, and the intensity of the light of the target wave band gradually increases; S3, when the reflecting surface rotates to the calibration position, the calibration spectral channel detects that the intensity of the light of the target wave band increases to a target value, and the calibration unit calibrates the relative displacement of the rotating component to zero.

8. A method of calibrating a reflective optical rotary encoder, applied to a reflective optical rotary encoder as claimed in any one of claims 5-6, characterized in that, The method comprises the following steps: S1, the rotating component rotates and drives the reflecting surface to rotate, the light source generates incident light and reflects on the reflecting surface, the spectral channel array receives the reflected light of the reflecting surface, and the filter film or filter plate is coated on the pixels in the spectral channel array, the filter band of the filter film or filter plate is consistent with the target wave band to form a calibration spectral channel; S2, when the reflecting surface rotates to the calibration position close to the calibration position, the calibration spectral channel detects the light of the target wave band reflected or generated by the calibration region, and the intensity of the light of the target wave band gradually decreases; S3, when the reflecting surface rotates to the calibration position, the calibration spectral channel detects that the intensity of the light of the target wave band decreases to a target value, and the calibration unit calibrates the relative displacement of the rotating component to zero.

9. An encoder system, characterized by The method comprises the following steps: The reflective optical rotary encoder comprises a rotating component, a reflecting surface, a light source, a spectral channel array, a calibration unit and a calibration region. The reflective optical rotary encoder comprises a rotating component, a reflecting surface, a light source, a spectral channel array, a calibration unit and a calibration region.

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