A transmissive optical rotary encoder, calibration method and system

Abstract

The present application relates to the technical field of encoder, disclose a kind of transmission type optical rotary encoder, calibration method and system, the present application transmission type optical rotary encoder is by setting semi-transparent rotating component, and setting mark area on rotating component, utilize mark area absorption or reflect the light of target wave band in the transmission light, simultaneously, setting calibration spectrum channel in spectrum channel array, utilize calibration spectrum channel detection the light of target wave band in the light transmitted by mark area, and by calibration unit, when the intensity of the light of target wave band detected in calibration spectrum channel is lower than target value, the relative displacement of rotating component is calibrated to 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 transmission type optical rotary encoder, a calibration method and system. BACKGROUND

[0002] Reference Figure 1 The conventional optical rotary encoder comprises 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 comprises 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) in the figure is the n (n≥1) frame image of the optical sensor array in the existing optical rotary encoder, Figure 2 (b) in the figure 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 by one calculation is: 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.

[0004] Figure 3 (a) in the figure is the cumulative relative displacement of the existing optical rotary encoder calculated when the rotating part rotates in a single direction (Dx(n) and Dy(n) in the figure) 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 period, the larger the cumulative relative displacement. Figure 3 (b) in the figure is the cumulative relative displacement of the existing optical rotary encoder calculated when the rotating part 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, thereby affecting the reading and causing the initial state to be very different, so that the absolute position information cannot be obtained. SUMMARY

[0005] The technical problem to be solved by the present application is to provide a transmission type optical rotary encoder which can be calibrated for position and thus obtain absolute position information of rotation.

[0006] In order to solve the above problems, the present application provides a transmission type optical rotary encoder, which comprises:

[0007] A rotating part made of a translucent material, the rotating part being provided with a mark area on the top thereof;

[0008] A light source is arranged on one side of the rotating component, the light source generates incident light and the incident light is incident on the rotating component, part of the incident light is transmitted out of the rotating component to form transmitted light, and the transmitted light forms an image with light and dark changes on the optical sensor array; the transmitted light is absorbed or reflected by light of a target wave band, and light outside the target wave band is transmitted;

[0009] An optical sensor array is arranged on the other side of the rotating component, the optical sensor array includes a spectrum channel array for receiving the transmitted light, and a calibration spectrum channel is arranged in the spectrum channel array, the calibration spectrum channel is used for detecting light of a target wave band in the light transmitted by the mark area;

[0010] A calibration unit is used to calibrate the relative displacement of the rotating component to zero when the calibration spectrum channel detects that the intensity of the light of the target wave band is lower than the target value.

[0011] As a further improvement of the present application, a plurality of mark areas are arranged on the rotating component, and the plurality of mark areas are respectively used for absorbing or reflecting light of different target wave bands, a plurality of calibration spectrum channels are arranged in the spectrum channel array, and the calibration spectrum channels are arranged one by one with the mark areas, and each calibration spectrum channel is used for detecting light of a corresponding target wave band in the light transmitted by a corresponding mark area.

[0012] 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: Wherein, N is the number of mark areas.

[0013] As a further improvement of the present application, the mark area is an absorbing wave material or a reflecting wave material, the absorbing wave material is used for absorbing light of a target wave band in the transmitted light, and the reflecting wave material is used for reflecting light of a target wave band in the transmitted light.

[0014] As a further improvement of the present application, a light filtering film or a filter is coated on the pixels in the spectrum channel array, the light filtering wave band of the light filtering film or the filter is consistent with the target wave band, so as to form the calibration spectrum channel.

[0015] The present application also provides a calibration method of a transmission type optical rotary encoder, which is applied to the transmission type optical rotary encoder and includes the following steps:

[0016] S1, the rotating component rotates and drives the mark area to rotate, the light source generates incident light and the incident light is incident on the rotating component, part of the incident light is transmitted out of the rotating component to form transmitted light, and the spectrum channel array receives the transmitted light;

[0017] S2, when the rotating component rotates to the mark region approaching the calibration position, the calibration spectrum channel detects the light transmitted by the mark region, and the intensity of the light of the target wave band in the light transmitted by the mark region gradually decreases;

[0018] S3, when the rotating component rotates to the mark region reaching the calibration position, the calibration spectrum 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.

[0019] The application also provides a transmission type optical rotary encoder, which comprises:

[0020] A rotating component made of translucent material, wherein an upper portion of the rotating component is provided with a mark region;

[0021] A light source arranged on one side of the rotating component, wherein the light source generates incident light and the incident light is incident on the rotating component, part of the incident light is transmitted out of the rotating component to form transmitted light, and the transmitted light forms an image with light and dark changes on an optical sensor array; and the mark region is used to generate light of a target wave band under the action of the transmitted light.

[0022] An optical sensor array arranged on the other side of the rotating component, wherein the optical sensor array comprises a spectrum channel array for receiving the transmitted light, and the spectrum channel array is provided with a calibration spectrum channel for detecting the light of the target wave band generated by the mark region.

[0023] A calibration unit, wherein the calibration unit is used to calibrate the relative displacement of the rotating component to zero when the calibration spectrum channel detects that the intensity of the light of the target wave band increases to a target value.

[0024] As a further improvement of the application, the rotating component is provided with a plurality of mark regions, and the plurality of mark regions are respectively used to generate light of different target wave bands; the spectrum channel array is provided with a plurality of calibration spectrum channels, and the calibration spectrum channels are arranged one by one corresponding to the mark regions, and the calibration spectrum channels are used to detect the light of the target wave band in the light transmitted by the mark regions.

[0025] The application also provides a calibration method of a transmission type optical rotary encoder, which is applied to the transmission type optical rotary encoder and comprises the following steps:

[0026] S1, the rotating component rotates and drives the mark region to rotate, the light source generates incident light and the incident light is incident on the rotating component, part of the incident light is transmitted out of the rotating component to form transmitted light, and the spectrum channel array receives the transmitted light;

[0027] S2, when the rotating part rotates to the mark region close to the calibration position, the calibration spectrum channel detects the light of the target wave band generated by the mark region, and the intensity of the light of the target wave band gradually increases;

[0028] S3, when the rotating part rotates to the mark region reaching the calibration position, the calibration spectrum 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 part to zero.

[0029] The application also provides an encoder system, which comprises the above-mentioned transmission type optical rotary encoder.

[0030] The application has the following beneficial effects:

[0031] The transmission type optical rotary encoder of the application sets a semi-transparent rotating part, sets a mark region on the rotating part, absorbs or reflects the light of the target wave band in the transmission light by the mark region, sets a calibration spectrum channel in the spectrum channel array, detects the light of the target wave band transmitted by the mark region by the calibration spectrum channel, and calibrates the relative displacement of the rotating part to zero by the calibration unit when the intensity of the light of the target wave band detected by the calibration spectrum channel is lower than the target value. Thus, the cumulative error is eliminated, and the absolute position information of rotation is obtained.

[0032] The above description is only a summary of the technical scheme of the application. In order to make the technical means of the application more clear, the content of the specification can be implemented, and in order to make the above and other purposes, characteristics 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

[0033] Figure 1 is a schematic diagram of the existing optical rotary encoder;

[0034] Figure 2 (a) in is the nth frame image of the optical sensor array in the existing optical rotary encoder; Figure 2 (b) in is the n+1th frame image of the optical sensor array in the existing optical rotary encoder;

[0035] Figure 3 (a) in is a graph of the cumulative relative displacement of the existing optical rotary encoder with respect to time when the rotating part rotates in a single direction; Figure 3 (b) in is a graph of the cumulative relative displacement of the existing optical rotary encoder with respect to time when the rotating part rotates randomly left and right;

[0036] Figure 4is a schematic diagram of the transmissive optical rotary encoder in embodiment one of the present application;

[0037] Figure 5 is an image of the optical sensor array in the transmissive optical rotary encoder in embodiment one of the present application;

[0038] Figure 6 is a diagram of the cumulative relative displacement calculated when the rotating part rotates in a single direction and the intensity of the light of the target wave band detected by the calibration spectral channel over time in the transmissive optical rotary encoder in embodiment one of the present application;

[0039] Figure 7 is a schematic diagram of the transmissive optical rotary encoder in embodiment two of the present application;

[0040] Figure 8 is an image of the optical sensor array in the transmissive optical rotary encoder in embodiment two of the present application;

[0041] Figure 9 is an image of the optical sensor array in the transmissive optical rotary encoder in embodiment three of the present application.

[0042] Label description: 1, rotating part; 11, reflecting surface; 2, optical sensor array; 3, mark area; 4, pixel; 5, calibration spectral channel; 6, light source. DETAILED DESCRIPTION

[0043] The present application will be further described below in conjunction with the drawings and specific embodiments so that those skilled in the art can better understand the present application and implement it.

[0044] Embodiment one: reference Figures 4-5 The present embodiment discloses a transmissive optical rotary encoder, which comprises a rotating part 1, a light source 6, an optical sensor array 2 and a calibration unit, the rotating part 1 is made of a translucent material, and the rotating part 1 is provided with a mark area 3.

[0045] The light source 6 is arranged on one side of the rotating part 1, the light source 6 generates incident light which is incident to the rotating part 1, part of the incident light is transmitted out of the rotating part 1 to form transmitted light, and the transmitted light forms an image with light and dark changes on the optical sensor array 2 so as to find feature points by an algorithm and realize feature encoding; the mark area 3 is used for absorbing or reflecting the light of the target wave band in the transmitted light. Optionally, the light source 6 is a white light source. The rotating part 1 can be selected as ground glass or a translucent acrylic plate, because it is difficult to detect the light and dark change image and realize feature encoding with a pure transparent material.

[0046] The optical sensor array 2 is arranged on the other side of the rotating component 1, and the optical sensor array 2 comprises an array of spectral channels for receiving the transmitted light, and a calibration spectral channel 5 is arranged in the array of spectral channels, and the calibration spectral channel 5 is used for receiving light of a target waveband in the light transmitted by the mark region 3; and a calibration unit is used for calibrating the relative displacement of the rotating component 1 as zero when the intensity of the light of the target waveband received by the calibration spectral channel 5 is lower than a target value.

[0047] Figure 5 is an image of the optical sensor array in the optical rotary encoder of the embodiment. The calibration spectral channel 5 can be implemented by using any idle pixel 4. Alternatively, the calibration spectral channel 5 can be formed by coating a light filtering film on the pixel 4 in the array of spectral channels or adding a filter, and the filtering waveband of the light filtering film or the filter is consistent with the target waveband.

[0048] When the rotating component 1 rotates in a single direction, the accumulated relative displacement gradually increases with time in a rotation period. In the embodiment, the rotating component 1 is provided with a mark region 3, so that the rotating component 1 is calibrated once every 360 degrees of rotation, thereby avoiding the increase of the accumulated relative error with the increase of the rotation period.

[0049] Similarly, when the rotating component 1 rotates randomly left and right, the accumulated 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 accumulated error is prevented from increasing indefinitely.

[0050] Alternatively, the target waveband of the mark region 3 is a red waveband (wavelength range 760nm~622nm), an orange waveband (wavelength range 622nm~597nm), a yellow waveband (wavelength range 597nm~577nm), a green waveband (wavelength range 577nm~492nm), a cyan waveband (wavelength range 492nm~450nm), a blue waveband (wavelength range 450nm~435nm), or a violet waveband (wavelength range 435nm~390nm), etc.

[0051] Alternatively, the mark region 3 absorbs or reflects the light of the target waveband in the transmitted light by the following way: the mark region 3 is made of a wave-absorbing material or a wave-reflecting material, the wave-absorbing material is used for absorbing the light of the target waveband in the transmitted light, and the wave-reflecting material is used for reflecting the light of the target waveband in the transmitted light.

[0052] Further, the mark region 3 is formed by bonding a solid wave-absorbing material or a solid wave-reflecting material on the rotating component 1, or formed by coating a liquid wave-absorbing material or a liquid wave-reflecting material on the rotating component 1. For example, when the target waveband is a blue waveband, the mark region can be selected as red glass or yellow glass to filter out blue light, or a material that only absorbs or reflects blue light is selected to ensure that other light can be transmitted.

[0053] In the embodiment, the rotating part 1 is a cylinder or a ring, when the rotating part 1 is a cylinder, the mark area 3 is arranged on the end face of the cylinder; when the rotating part 1 is a ring, the mark area 3 is arranged on the end face of the ring. It should be pointed out that the cylinder here includes a disc, which belongs to a cylinder with small axial extension, and essentially belongs to a cylinder.

[0054] The transmission type optical rotary encoder of the present application sets a semi-transparent rotating part 1, and sets a mark area 3 on the rotating part 1, absorbs or reflects the light of the target wave band in the transmission light by the mark area 3, sets a calibration spectrum channel 5 in the spectrum channel array, receives the light of the target wave band transmitted by the mark area by the calibration spectrum channel 5, and calibrates the relative displacement (angle) of the rotating part 1 to zero when the intensity of the light of the target wave band detected by the calibration spectrum channel is lower than the target value by the calibration unit. Thus, the cumulative error is eliminated, and the absolute position information of rotation is obtained.

[0055] Embodiment two: reference Figures 7-8 The transmission type optical rotary encoder of the present application sets a semi-transparent rotating part 1, and sets a mark area 3 on the rotating part 1, absorbs or reflects the light of the target wave band in the transmission light by the mark area 3, sets a calibration spectrum channel 5 in the spectrum channel array, receives the light of the target wave band transmitted by the mark area by the calibration spectrum channel 5, and calibrates the relative displacement (angle) of the rotating part 1 to zero when the intensity of the light of the target wave band detected by the calibration spectrum channel is lower than the target value by the calibration unit. Thus, the cumulative error is eliminated, and the absolute position information of rotation is obtained. Figure 8 .

[0056] It should be pointed out that: here, why the two mark areas 3 correspond to two different target wave bands of light, rather than the same wave band, because, when the two mark areas correspond to the same wave band of light, if the cumulative speed of error exceeds the speed that can be recognized by the algorithm, the algorithm cannot recognize which mark area 3 the calibration signal comes from, resulting in an error. Especially when it is necessary to further improve the calibration accuracy, and three or more mark areas 3 are set as in embodiment three, in order to avoid errors, it is necessary to ensure that the system is not affected by the cumulative speed of error, that is, one mark area corresponds to one target wave band of light.

[0057] Further, the two mark areas 3 are arranged in a radial direction of the rotating part 1, and the included angle a formed by the two mark areas 3 and the rotation axis of the rotating part 1 is 180 degrees, that is, the line connecting the two mark areas 3 passes through the rotation axis 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 accumulates rotation by 180 degrees in one direction, that is, calibration is performed once, the calibration accuracy is higher relative to embodiment one.

[0058] Optionally, the target wave bands of the two mark areas 3 are any two of the red light wave band, the orange light wave band, the yellow light wave band, the green light wave band, the cyan light wave band, the blue light wave band, and the violet light wave band.

[0059] For example, the target wave bands of the two mark areas are the red light wave band and the blue light wave band respectively, the red light wave band is filtered through one mark area, when the light intensity of the red light wave band detected by the calibration spectrum channel corresponding to the mark area decreases to a target value, the first calibration is realized. When the rotating component rotates 180 degrees, the blue light is filtered through another mark area, that is, the light intensity of the red light wave band detected by the calibration spectrum channel corresponding to the mark area decreases to a target value, the second calibration is realized.

[0060] Embodiment three: the embodiment discloses a transmission type optical rotary encoder, the transmission type optical rotary encoder in the embodiment is different from the transmission type optical rotary encoder in embodiment one in that the rotating component 1 is provided with at least three mark areas 3, the at least three mark areas 3 are respectively used for absorbing or reflecting 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 one by one with the mark areas 3, and each calibration spectrum channel 5 is used for detecting light of a corresponding target wave band in light transmitted by a corresponding mark area 3. Refer to Figure 9 .

[0061] The at least three mark areas 3 are arranged in a radial direction of the rotating component 1, and an included angle a formed by any two adjacent mark areas 3 and the rotating shaft of the rotating component 1 is: , wherein N is the number of the mark areas 3.

[0062] No matter whether the rotating component 1 rotates in a single direction or rotates randomly left and right, as long as the rotating component 1 rotates a in one direction, that is, calibration is performed once, and the calibration accuracy is further improved.

[0063] Embodiment four: the embodiment discloses a calibration method of a transmission type optical rotary encoder, and is applied to the transmission type optical rotary encoder in embodiments one, two or three. The calibration method of the transmission type optical rotary encoder comprises the following steps:

[0064] S1, the rotating component 1 rotates and drives the mark area 3 to rotate, the light source 6 generates incident light and the incident light is incident to the rotating component 1, part of the incident light is transmitted out of the rotating component 1 to form transmitted light, and the spectrum channel array receives the transmitted light;

[0065] S2, when the rotating component 1 rotates to the mark area 3 close to a calibration position, the calibration spectrum channel 5 receives light of a target wave band in the transmitted light of the mark area 3, and the intensity of the light of the target wave band gradually decreases;

[0066] S3, when the rotating component 1 rotates to the mark area 3 to reach 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 relative displacement of the rotating component 1 to zero.

[0067] Embodiment five: the embodiment discloses a transmission type optical rotary encoder, and the transmission type optical rotary encoder in the embodiment is different from the transmission type optical rotary encoder in embodiment one in that: the mark area 3 is used to generate light of a target wave band under the action of the transmission light; the calibration spectrum channel 5 is used to detect the light of the target wave band in the light transmitted by the mark area 3; and the calibration unit is used to calibrate the relative displacement of the rotating component 1 to zero when the calibration spectrum channel 5 detects that the intensity of the light of the target wave band increases to a target value.

[0068] Figure 6 is a diagram of the cumulative relative displacement of the transmission type optical rotary encoder in the embodiment and the change of the intensity of the light of the target wave band detected by the calibration spectrum channel with time when the rotating component rotates in a single direction. As can be seen, when the rotating component 1 rotates in a single direction, the cumulative relative displacement gradually increases with time in a rotation period. In the embodiment, the mark area 3 is arranged on the rotating component, that is, 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.

[0069] The mark area 3 generates light of a target wave band under the action of the transmission light, which can be realized in the following ways:

[0070] I. photoluminescence

[0071] The photoluminescence can be further divided into fluorescent light and phosphorescent light:

[0072] A) fluorescent light: the fluorescent agent is a certain normal temperature substance, which is irradiated by a certain wavelength of incident light (usually ultraviolet or X-ray), absorbs light energy, enters the excited state, and immediately de-excites and emits outgoing light (usually with a longer wavelength than the incident light in the visible light band). Once the incident light stops, the light emission phenomenon also immediately disappears.

[0073] B) phosphorescent light: the phosphorescent agent is a certain normal temperature substance, which is irradiated by a certain wavelength of incident light (usually ultraviolet or X-ray), absorbs light energy, enters the excited state (usually has different spin multiplicity from the ground state), and 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 continues to exist, and the decay time is greater than 10e -8 seconds.

[0074] Specifically, the present application can use the method of fluorescent or phosphorescent light, apply specific waveband fluorescent or phosphorescent agent on the rotating part 1 to form the mark area 3, then according to the requirement of the fluorescent or phosphorescent agent, the light source 6 generates the required corresponding waveband light incident to the mark area 3, and then the mark area 3 generates the target waveband light.

[0075] II. Quantum dot light emitting technology:

[0076] 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 attached to the rotating part 1 to form the mark area 3, and then the required target waveband light is generated after the quantum dots are excited by laser or LED.

[0077] In other embodiments, the rotating part 1 is provided with a plurality of mark areas 3, and the plurality of mark areas 3 are respectively used to generate different target waveband light under the action of the transmitted light, and 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 the corresponding target waveband light in the light transmitted by the corresponding mark area 3. To improve the calibration frequency and calibration accuracy.

[0078] The mechanism of this embodiment is similar to that of embodiment one, the only difference being that embodiment one reflects or absorbs the target waveband light, and the target waveband light detected by the calibration spectral channel at the calibration position is weakened, while this embodiment generates the target waveband light, and the target waveband light detected by the calibration spectral channel at the calibration position is enhanced, thereby achieving calibration.

[0079] Embodiment six: the present application discloses a calibration method of a transmission type optical rotary encoder, which is applied to the transmission type optical rotary encoder in embodiment five, and the calibration method of the transmission type optical rotary encoder comprises the following steps:

[0080] S1, the rotating part 1 rotates and drives the mark area 3 to rotate, the light source 6 generates incident light and the incident light is incident to the rotating part 1, part of the incident light is transmitted out of the rotating part 1 to form transmitted light, and the spectral channel array receives the transmitted light;

[0081] S2, when the rotating part 1 rotates to the calibration position close to the mark area 3, the calibration spectral channel 5 receives the target waveband light in the transmitted light of the mark area 3, and the intensity of the target waveband light gradually increases;

[0082] S3, when the rotating part 1 rotates to the mark area 3 to reach the calibration position, the calibration spectrum channel 5 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 part 1 as zero.

[0083] Embodiment seven: This embodiment discloses an encoder system, which comprises the transmissive optical rotary encoder in embodiment one, embodiment two, embodiment three or embodiment five, and encodes and calibrates by using the transmissive optical rotary encoder in embodiment one, embodiment two, embodiment three or embodiment five.

[0084] The above embodiments are only preferred embodiments for fully illustrating the present application, and the protection scope of the present application is not limited thereto. Any equivalent replacement or transformation made by the skilled in the art based on the present application is within the protection scope of the present application. The protection scope of the present application is subject to the claims.

Claims

1. A transmissive optical rotary encoder characterized in that, The application relates to a rotating component, a light source, an optical sensor array and a calibration unit. The rotating component is made of a translucent material, and a mark area is arranged on the rotating component. The light source is arranged on one side of the rotating component, generates incident light, and the incident light is incident on the rotating component, part of the incident light is transmitted out of the rotating component to form transmitted light, and the transmitted light forms an image with light and shade changes on the optical sensor array; the transmitted light is absorbed or reflected in a target wave band, and the transmitted light is transmitted in a wave band other than the target wave band. The optical sensor array is arranged on the other side of the rotating component, and the optical sensor array comprises a spectrum channel array for receiving the transmitted light; a calibration spectrum channel is arranged in the spectrum channel array, and the calibration spectrum channel is used for detecting the light in the target wave band transmitted by the mark area; wherein the calibration spectrum channel is obtained by plating a light filter film or adding a light filter on a pixel in the spectrum channel array, and the light filtering wave band of the light filter film or the light filter is consistent with the target wave band. The calibration unit is used for calibrating the relative displacement of the rotating component as zero when the calibration spectrum channel detects that the intensity of the light in the target wave band is lower than a target value. A plurality of mark areas are arranged on the rotating component, and the plurality of mark areas are used for absorbing or reflecting light in different target wave bands; a plurality of calibration spectrum channels are arranged in the spectrum channel array, and the calibration spectrum channels are arranged in one-to-one correspondence with the mark areas; and each calibration spectrum channel is used for detecting the light in the corresponding target wave band transmitted by the corresponding mark area.

2. The transmissive optical rotary encoder of claim 1, wherein, 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 rotating shaft of the rotating component is: where N is the number of marker regions.

3. The transmissive optical rotary encoder of claim 1, wherein, The mark area is made of a wave-absorbing material or a wave-reflecting material; the wave-absorbing material is used for absorbing the light in the target wave band of the transmitted light; and the wave-reflecting material is used for reflecting the light in the target wave band of the transmitted light.

4. A transmissive optical rotary encoder characterized in that, The application relates to a rotating component, a light source, an optical sensor array and a calibration unit. The rotating component is made of a translucent material, and a mark area is arranged on the rotating component. The light source is arranged on one side of the rotating component, generates incident light, and the incident light is incident on the rotating component, part of the incident light is transmitted out of the rotating component to form transmitted light, and the transmitted light forms an image with light and shade changes on the optical sensor array; the mark area is used for generating light in a target wave band under the action of the transmitted light. The optical sensor array is arranged on the other side of the rotating component, and the optical sensor array comprises a spectrum channel array for receiving the transmitted light; a calibration spectrum channel is arranged in the spectrum channel array, and the calibration spectrum channel is used for detecting the light in the target wave band generated by the mark area; wherein the calibration spectrum channel is obtained by plating a light filter film or adding a light filter on a pixel in the spectrum channel array, and the light filtering wave band of the light filter film or the light filter is consistent with the target wave band. The calibration unit is used for calibrating the relative displacement of the rotating component as zero when the calibration spectrum channel detects that the intensity of the light in the target wave band is lower than a target value. The rotating component is provided with a plurality of mark areas, and the plurality of mark areas are respectively used to generate light of different target wave bands. The spectral channel array is provided with a plurality of calibration spectral channels, and the calibration spectral channels are arranged one by one with the mark areas. Each calibration spectral channel is used to detect light of a corresponding target wave band generated by a corresponding mark area.

5. A method of calibrating a transmissive optical rotary encoder, applied to a transmissive optical rotary encoder as claimed in any one of claims 1-3, characterized in that, The method comprises the following steps: S1, the rotating component rotates and drives the mark area to rotate. The light source generates incident light and the incident light is incident to the rotating component. The incident light is partially transmitted out of the rotating component to form transmitted light. The spectral channel array receives the transmitted light; S2, when the rotating component rotates to the mark area close to the calibration position, the calibration spectral channel detects the light of the target wave band generated by the mark area, and the intensity of the light of the target wave band gradually decreases; S3, when the rotating component rotates to the mark area reaching the calibration position, the calibration spectral channel detects that the intensity of the light of the target wave band decreases to a target value. The calibration unit calibrates the relative displacement of the rotating component to zero. The rotating component is provided with a plurality of mark areas, and the plurality of mark areas are respectively used to absorb or reflect light of different target wave bands. The spectral channel array is provided with a plurality of calibration spectral channels, and the calibration spectral channels are arranged one by one with the mark areas. Each calibration spectral channel is used to detect light of a corresponding target wave band in the light transmitted by a corresponding mark area. The calibration spectral channel is obtained by coating a light filtering film or adding a light filter on a pixel in the spectral channel array. The light filtering wave band of the light filtering film or the light filter is consistent with the target wave band.

6. A method of calibrating a transmissive optical rotary encoder, applied to a transmissive optical rotary encoder as claimed in claim 4, characterized in that, The method comprises the following steps: S1, the rotating component rotates and drives the mark area to rotate. The light source generates incident light and the incident light is incident to the rotating component. The incident light is partially transmitted out of the rotating component to form transmitted light. The spectral channel array receives the transmitted light; S2, when the rotating component rotates to the mark area close to the calibration position, the calibration spectral channel detects the light of the target wave band generated by the mark area, and the intensity of the light of the target wave band gradually decreases; S3, when the rotating component rotates to the mark area reaching the calibration position, the calibration spectral channel detects that the intensity of the light of the target wave band decreases to a target value. The calibration unit calibrates the relative displacement of the rotating component to zero. The rotating component is provided with a plurality of mark areas, and the plurality of mark areas are respectively used to absorb or reflect light of different target wave bands. The spectral channel array is provided with a plurality of calibration spectral channels, and the calibration spectral channels are arranged one by one with the mark areas. Each calibration spectral channel is used to detect light of a corresponding target wave band in the light transmitted by a corresponding mark area. The calibration spectral channel is obtained by coating a light filtering film or adding a light filter on a pixel in the spectral channel array. The light filtering wave band of the light filtering film or the light filter is consistent with the target wave band.

7. An encoder system, characterized by The method comprises the following steps: The transmission type optical rotary encoder comprises a rotating component, a mark area, a light source, a spectral channel array, a calibration unit and a calibration spectral channel.

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