Encoder-based calibration processing methods, devices, equipment, and media

Abstract

The present application relates to a correction processing method, device, equipment and medium based on an encoder, and relates to the technical field of encoders, including: obtaining dual encoder acquisition position data for a measured encoder, the dual encoder acquisition position data including first original position data and second original position data; performing sorting processing based on the first original position data and the second original position data to obtain an initial data pair; performing encoder data processing based on the initial data pair to obtain position data to be corrected and corrected position data corresponding to the position data to be corrected; performing interpolation processing based on the position data to be corrected and the corrected position data to obtain single-turn accuracy data of the measured encoder and corrected accuracy data corresponding to the single-turn accuracy data; generating error compensation information of the measured encoder based on the single-turn accuracy data and the corrected accuracy data, so that the error compensation information can be used to compensate for the absolute positioning deviation of the measured encoder in the future, thereby realizing accurate correction of the absolute position of the encoder.

Description

Technical Field

[0001] The present application relates to the technical field of encoders, and in particular to an encoder-based correction processing method, device, equipment and medium. Background Art

[0002] The encoder is a device that compiles and converts signals or data into a signal form that can be used for communication, transmission and storage. After the encoder is assembled, it is difficult to ensure the positioning accuracy of the encoder due to mechanical problems such as mechanical positioning, light source installation, and code disk installation. Summary of the invention

[0003] In order to solve the above technical problems or at least partially solve the above technical problems, the present application provides an encoder-based correction processing method, device, equipment and medium to achieve precise correction of the absolute position of the encoder and ensure the absolute positioning accuracy of the encoder.

[0004] In a first aspect, the present application provides a correction processing method based on an encoder, comprising:

[0005] For the encoder under test, obtaining dual encoder acquisition position data, wherein the dual encoder acquisition position data includes first original position data corresponding to the encoder under test and second original position data corresponding to the correction encoder;

[0006] Sorting the first original position data and the second original position data to obtain an initial data pair;

[0007] Performing encoder data processing according to the initial data pair to obtain a dual encoder position data pair, wherein the dual encoder position data pair includes the position data to be corrected of the encoder under test and the correction position data corresponding to the position data to be corrected one by one;

[0008] Performing interpolation processing according to the position data to be corrected and the corrected position data to obtain an accuracy data pair, wherein the accuracy data pair includes single-turn accuracy data of the encoder under test and correction accuracy data corresponding to the single-turn accuracy data in a one-to-one manner;

[0009] Error compensation information of the encoder under test is generated according to the single-turn accuracy data and the correction accuracy data.

[0010] Optionally, for the encoder under test, obtain dual encoder acquisition position data, including:

[0011] Determine the collection time interval;

[0012] According to the collection time interval, the single-turn position information of the encoder under test and the single-turn position information of the correction encoder are synchronously collected to obtain the first original position data and the second original position data, and the original data collection identifiers corresponding to the first original position data and the second original position data are recorded.

[0013] Optionally, the encoder under test and the correction encoder are fastened to each other via a coupling, and the encoder under test and the correction encoder are in a synchronous rotation state during the acquisition process, and the absolute positioning accuracy of the correction encoder is higher than the absolute positioning accuracy of the encoder under test.

[0014] Optionally, the sorting process is performed according to the first original position data and the second original position data to obtain an initial data pair, including:

[0015] Sorting the first original position data to obtain corrected encoder position data, wherein the corrected encoder position data includes at least two initial position data of the encoder under test;

[0016] According to the original data collection identifier corresponding to the initial position data, the second original position data is sorted to obtain target accuracy encoder position data, wherein the target accuracy encoder position data includes correction encoder position data corresponding to the initial position data one by one;

[0017] For each of the initial position data, the correction encoder position data corresponding to the initial position data is combined to obtain the initial data pair.

[0018] Optionally, performing encoder data processing according to the initial data pair to obtain a dual encoder position data pair includes:

[0019] Performing a deduplication process based on the initial data pair to obtain a target data pair, wherein the target data pair includes the position data to be corrected of the encoder under test and the correction encoder position data corresponding to the position data to be corrected in a one-to-one manner;

[0020] Based on the data bit attribute information of the encoder under test, combined with the acquisition running direction of the encoder under test and the acquisition running direction of the correction encoder, the correction encoder position data corresponding to each position data to be corrected is converted to obtain the correction position data corresponding to the position data to be corrected one by one;

[0021] For each of the position data to be corrected, the correction position data corresponding to the position data to be corrected is combined to obtain the dual encoder position data pair.

[0022] Optionally, based on the data bit attribute information of the encoder under test, combined with the acquisition and running direction of the encoder under test and the acquisition and running direction of the correction encoder, data conversion processing is performed on the correction encoder position data corresponding to each position data to be corrected to obtain correction position data corresponding one-to-one to the position data to be corrected, including:

[0023] For each of the correction encoder position data, data scaling is performed based on the data bit attribute information of the measured encoder to obtain scaled data corresponding to the correction encoder position data;

[0024] If the acquisition running direction of the encoder under test is the same as the acquisition running direction of the correction encoder, the scaled data is determined as the correction position data;

[0025] If the acquisition and running direction of the encoder under test is opposite to the acquisition and running direction of the correction encoder, the reverse data of the scaled data is determined as the correction position data.

[0026] Optionally, the correction processing method further includes: reading the current position data of the encoder during the position calculation process of the encoder under test; determining the position compensation data corresponding to the current position data of the encoder based on the error compensation information; and performing position correction on the encoder under test according to the position compensation data to obtain the absolute position result of the encoder under test.

[0027] Optionally, the interpolation processing is performed based on the position data to be corrected and the correction position data to obtain the precision data pair, including: performing linear interpolation based on the position data to be corrected and the correction position data to obtain the correction straight line information corresponding to the encoder under test, and determining the precision data pair based on the correction straight line information.

[0028] Optionally, the error compensation information of the encoder under test is generated based on the single-turn accuracy data and the correction accuracy data, including: subtracting the single-turn accuracy data from the correction accuracy data to obtain accuracy deviation information; performing filtering based on the accuracy deviation information to obtain error curve information; and generating an error correction table as the error compensation information based on the error curve information.

[0029] In a second aspect, the present application provides a correction processing device based on an encoder, comprising:

[0030] A dual encoder data acquisition module, used for acquiring dual encoder acquisition position data for the encoder under test, wherein the dual encoder acquisition position data includes first original position data corresponding to the encoder under test and second original position data corresponding to the correction encoder;

[0031] A sorting processing module, used for performing sorting processing according to the first original position data and the second original position data to obtain an initial data pair;

[0032] An encoder data processing module, configured to perform encoder data processing according to the initial data pair to obtain a dual encoder position data pair, wherein the dual encoder position data pair includes the position data to be corrected of the encoder under test and the correction position data corresponding one-to-one to the position data to be corrected;

[0033] A data interpolation processing module, used for performing interpolation processing according to the position data to be corrected and the correction position data to obtain an accuracy data pair, wherein the accuracy data pair includes the single-turn accuracy data of the encoder under test and the correction accuracy data corresponding to the single-turn accuracy data in a one-to-one manner;

[0034] The error compensation information module is used to generate error compensation information of the encoder under test according to the single-turn accuracy data and the correction accuracy data.

[0035] In a third aspect, an electronic device is provided, comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus;

[0036] Memory, used to store computer programs;

[0037] The processor is used to implement the steps of any correction processing method described in the first aspect when executing the program stored in the memory.

[0038] In a fourth aspect, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the correction processing method as described in any one of the first aspects are implemented.

[0039] The embodiment of the present application obtains the position data collected by the dual encoder for the encoder under test, and sorts the first original position data and the second original position data in the position data collected by the dual encoder to obtain an initial data pair, and then processes the encoder data according to the initial data pair to obtain the position data to be corrected and the corrected position data corresponding to the position data to be corrected, and performs interpolation processing based on the position data to be corrected and the corrected position data to obtain the single-turn accuracy data of the encoder under test and the corrected accuracy data corresponding to the single-turn accuracy data, so that the error compensation information of the encoder under test can be generated based on the single-turn accuracy data and the corrected accuracy data, so that the error compensation information can be used to compensate for the absolute positioning deviation of the encoder under test, and the absolute position of the encoder can be accurately corrected, thereby effectively improving the absolute positioning accuracy of the encoder. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0041] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0042] Figure 1 A flowchart of a correction method based on an encoder provided in an embodiment of the present application;

[0043] Figure 2 This is a schematic diagram of a coupling-type drag connection between a measured encoder and a correction encoder in an example of the present application;

[0044] Figure 3 Schematic diagram of a dual encoder error curve E recorded in one circle in an example of this application

[0045] Figure 4 A schematic diagram of an error curve T provided for an example of the present application;

[0046] Figure 5 A flowchart of a correction processing method based on an encoder provided in an optional embodiment of the present application;

[0047] Figure 6 A schematic diagram of the structure of an encoder-based correction processing device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0048] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0049] Usually, after the encoder is installed, it is necessary to calibrate the encoder to improve the absolute positioning accuracy of the encoder. The commonly used encoder calibration method is basically to align the calibrated encoder with the standard encoder to directly compensate for the absolute positioning deviation of the calibrated encoder based on the position deviation between the calibrated encoder and the standard encoder. However, the calibration process of this calibration method is very different from the actual use of the encoder, and it cannot achieve accurate calibration of the absolute position of the encoder, and it is difficult to ensure the positioning accuracy of the calibrated encoder, which affects the application of the encoder.

[0050] One of the core concepts of the embodiments of the present application is to propose an encoder-based correction processing method to implement a new encoder correction method based on the existing encoder correction method, by obtaining the position data collected by the dual encoders, and sorting the first original position data and the second original position data in the position data collected by the dual encoders, and then processing the encoder data according to the initial data obtained by the sorting process to obtain the position data to be corrected and the corrected position data corresponding to the position data to be corrected, and interpolation processing is performed based on the position data to be corrected and the corrected position data to obtain the single-turn accuracy data of the encoder under test and the correction accuracy data corresponding to the single-turn accuracy data, so that the error compensation information of the encoder under test can be generated based on the single-turn accuracy data and the correction accuracy data, so that the error compensation information can be used to compensate for the absolute positioning deviation of the encoder under test, thereby realizing accurate correction of the absolute position of the encoder, and solving the problem of low correction accuracy in the existing encoder correction method due to the difference between the correction process and the actual use of the encoder.

[0051] Figure 1 The following is a flowchart of a method for correcting an encoder based on an embodiment of the present application. The method for correcting an encoder based on an embodiment of the present application can be applied to encoder correction scenarios, such as encoder position correction scenarios, such as Figure 1 As shown, the encoder-based correction processing method may specifically include the following steps:

[0052] Step 110, for the encoder under test, obtaining dual encoder acquisition position data, wherein the dual encoder acquisition position data includes first original position data corresponding to the encoder under test and second original position data corresponding to the correction encoder;

[0053] In this step, the dual encoder position information can be obtained for the encoder under test as the dual encoder acquisition position data. Among them, the dual encoder can include a high-precision standard encoder and a measured encoder, and the high-precision standard encoder can be used as a correction encoder, and the measured encoder can refer to a corrected encoder, such as the measured encoder can be a corrected absolute encoder, etc. Therefore, the dual encoder acquisition position data in the embodiment of the present application is used to represent the collected dual encoder data, and specifically can include the first original position data corresponding to the measured encoder and the second original position data corresponding to the correction encoder; the first original position data can refer to the collected measured encoder position original data, and specifically can include one or more collected initial position data, and the initial position data can be used to represent the collected measured encoder position, such as the initial position data can be the collected measured encoder position information; the second original position data can refer to the collected correction encoder position original data, and specifically can include one or more collected correction encoder position data, and the correction encoder position data can be used to represent the collected correction encoder position. For example, the dual encoder can be controlled to run at a low speed, and at the same time, a homemade dual encoder data cache board can be used to synchronously read the single-turn position information of the dual encoder, so as to determine the read single-turn position information of the dual encoder as the dual encoder acquisition position data, thereby realizing the acquisition of the dual encoder acquisition position data.

[0054] In an optional implementation, this embodiment obtains dual encoder acquisition position data for the encoder under test, which may specifically include: determining an acquisition time interval; synchronously acquiring the single-turn position information of the encoder under test and the single-turn position information of the correction encoder according to the acquisition time interval to obtain the first original position data and the second original position data, and recording the original data acquisition identifiers corresponding to the first original position data and the second original position data. Among them, the acquisition time interval can be determined according to the data acquisition requirements of the encoder under test, and this embodiment does not impose specific restrictions on the specific value of the acquisition time interval. It should be noted that the smaller the acquisition time interval, the better the encoder correction effect will be.

[0055] In a specific implementation, the dual encoders can be fastened by a coupling to ensure that the dual encoders are coaxial and non-slip, so that the absolute positions of the dual encoders can be guaranteed to correspond one to one within one week. Optionally, the measured encoder and the correction encoder in this embodiment are fastened by a coupling, and the measured encoder and the correction encoder are in a synchronous rotation state during the acquisition process. Specifically, when the dual encoders are coaxial and non-slip, the low-speed operation speed has a relatively small effect on the encoder correction accuracy. In this embodiment, when the dual encoders are coaxial and have no slippage, the dual encoders can be controlled to run at a low speed based on a preset acquisition time interval, so that the correction encoder and the encoder under test are in a synchronous rotation state, and the data acquisition card can be used to synchronously sample the absolute position values ​​of the dual encoders according to the acquisition time interval, that is, the single-turn position information of the encoder under test and the single-turn position information of the correction encoder are synchronously acquired, so that the first original position data and the second original position data can be acquired, and the first original position data and the second original position data acquired simultaneously can be stored as a pair of data, that is, each pair of dual encoder absolute position value data is stored as a pair of data as a dual encoder original position data pair, such as being recorded as a dual encoder original position data pair [S1, S2]; S1 is the first original position data, which can be used to represent the original position data of the encoder under test; S2 is the second original position data, which can be used to represent the high-precision original position data of the correction encoder, and at the same time, the original data acquisition identifiers corresponding to the first original position data and the second original position data can be recorded as data subscripts of the first original position data and the second original position data. Among them, the original data collection identifier can be used to identify the order of data collection. For example, the collection time or collection sequence number of the first original position data can be recorded as the original data collection identifier; of course, the collection time or collection sequence number of the second original position data can also be recorded as the original data collection identifier, etc. This embodiment does not impose specific restrictions on this.

[0056] It should be noted that the accuracy of the high-precision standard encoder can determine the final calibration accuracy of the calibrated encoder. Therefore, the absolute positioning accuracy of the calibration encoder in the embodiment of the present application can be higher than the absolute positioning accuracy of the encoder being measured.

[0057] Step 120, performing sorting processing according to the first original position data and the second original position data to obtain an initial data pair;

[0058] In this embodiment, the first original position data and the second original position data can be sorted to sort the collected first original position data and the second original position data in ascending order, so that the second original position data corresponding to each first original position data can be determined based on the arrangement order, and then for each first original position data, the first original position data and the second original position data corresponding to the first original position data can be combined to form an initial data pair, such as the initial data pair can be recorded as [P1, P2], so as to ensure that the correspondence between the measured encoder data and the correction encoder data after the sorting is completed is consistent. Among them, P1 is the corrected encoder position data, which can be used to represent the measured encoder position information after re-sorting; P2 is the target accuracy encoder position data, which can be used to represent the correction encoder position information regenerated after sorting. For example, when the correction encoder is a high-precision standard encoder, the target accuracy encoder position data P2 can be used to represent the high-precision encoder position information regenerated after sorting.

[0059] In an optional embodiment, this embodiment performs sorting processing based on the first original position data and the second original position data to obtain an initial data pair, which may specifically include: sorting the first original position data to obtain corrected encoder position data, the corrected encoder position data includes at least two initial position data of the encoder under test; sorting the second original position data according to the original data acquisition identifier corresponding to the initial position data to obtain target accuracy encoder position data, the target accuracy encoder position data includes corrected encoder position data corresponding one-to-one to the initial position data; for each of the initial position data, combining the corrected encoder position data corresponding to the initial position data to obtain the initial data pair. Specifically, when the collected dual encoder data is sorted, the initial position data contained in the first original position data can be sorted in order from large to small, so that the collected measured encoder position information can be sorted in order from small to large, and the sorted measured encoder position information can be recorded as the corrected encoder position data P1, so that the corrected encoder position data P1 can include one or more initial position data of the measured encoder; while sorting, the data subscript after the measured encoder position information is sorted can be extracted as the original data collection identifier corresponding to the initial position data, and then the second original position data can be sorted according to the original data collection identifier corresponding to the initial position data. The correction encoder position data contained in the initial position data is sorted to rearrange the collected correction encoder position data according to the data subscript after the measured encoder position information is sorted. For example, the data subscript after the measured encoder position information is sorted can be used as the measured encoder sorting subscript d1 to rearrange the correction encoder position data according to the measured encoder sorting subscript d1, and the re-sorted correction encoder data can be recorded as the target accuracy encoder position data P2, so that the target accuracy encoder position data P2 can contain the correction encoder position data corresponding to the initial position data one by one, to ensure that the correspondence between the measured encoder position information and the correction encoder position data after sorting is consistent.

[0060] Of course, when sorting the collected dual encoder data, the embodiment of the present application can not only sort according to the first original position data first, but also use other methods to sort the first original position data and the second original position data. For example, the correction encoder position data contained in the second original position data can be sorted first, and then the initial position data contained in the first original position data can be rearranged according to the data subscript after the correction encoder position data is sorted, etc. The embodiment of the present application does not limit this.

[0061] Step 130, performing encoder data processing according to the initial data pair to obtain a dual encoder position data pair, wherein the dual encoder position data pair includes the position data to be corrected of the encoder under test and the correction position data corresponding to the position data to be corrected one by one;

[0062] Among them, the initial data pair can be used to determine one or more data points, such as each initial position data in the initial data pair can be used as the horizontal coordinate of the data point, and the correction encoder position data corresponding to the initial position data in the initial data pair can be used as the vertical coordinate of the data point, so that each initial data pair can be used to determine a data point corresponding to it. After obtaining the initial data pair, this embodiment can perform encoder data processing based on the initial data pair, so that through encoder data processing, the overlapping data points and the points that obviously deviate from the valid data are screened out as invalid data points, and the subscripts of the invalid data points can be recorded at the same time, so that according to the subscripts of the invalid data points, the data of the invalid data points can be deleted from the corrected encoder data and the standard encoder data to obtain a dual encoder position data pair; the dual encoder position data pair can include one or more position data to be corrected of the encoder under test, and the correction position data corresponding to each position data to be corrected, and the position data to be corrected and the correction position data have a specific one-to-one correspondence.

[0063] In an optional implementation, this embodiment performs encoder data processing based on the initial data pair to obtain a dual encoder position data pair, which may specifically include: performing deduplication processing based on the initial data pair to obtain a target data pair, the target data pair including the position data to be corrected of the encoder under test and the correction encoder position data corresponding one-to-one to the position data to be corrected; based on the data bit attribute information of the encoder under test, combined with the acquisition and operation direction of the encoder under test and the acquisition and operation direction of the correction encoder, performing data conversion processing on the correction encoder position data corresponding to each position data to be corrected to obtain the correction position data corresponding one-to-one to the position data to be corrected; for each position data to be corrected, combining the correction position data corresponding to the position data to be corrected to obtain a dual encoder position data pair.

[0064] Specifically, after obtaining the data after the multi-turn encoder data is sorted, data overlap and data errors may appear. This embodiment performs deduplication processing based on the initial data pair, so as to screen out the overlapping data points and the erroneous data points that obviously deviate from the valid data through deduplication processing as invalid data points, and delete the initial position data corresponding to the data point and the correction encoder position data corresponding to the initial position, that is, delete the initial data pair corresponding to the invalid data point to obtain the target data pair. The target data pair can be used to determine one or more valid data points. For example, when the target data pair contains at least one position data to be corrected and the correction encoder position data corresponding to the position data to be corrected one by one, each position data to be corrected in the target data pair can be used as the horizontal coordinate of the valid data point, and the correction encoder position data corresponding to the position data to be corrected in the target data pair can be used as the vertical coordinate of the valid data point, so that each target data pair can be used to determine a valid data point corresponding to it.

[0065] In actual processing, the encoder under test serves as the calibrated encoder, and its bit number is usually lower than that of the correction encoder. For example, when a high-precision standard encoder is used as the correction encoder, the number of bits of the standard encoder is higher than that of the calibrated encoder, so that the high-precision standard encoder can be used to calibrate the low-precision calibrated encoder subsequently. Specifically, after obtaining the target data pair through duplicate deletion processing, the present embodiment can use the target data pair to determine whether there is an encoder position difference between the two sets of encoder data after the above processing, and then use the target data pair to forcibly convert the correction encoder position data corresponding to the position data to be corrected to the bit number of the encoder to be measured, that is, forcibly convert the correction encoder data bit number to the bit number of the encoder to be measured based on the bit number of the encoder data to be measured, and then perform dual encoder data correction, such as based on the data bit number attribute information of the encoder to be measured, combined with the acquisition and operation direction of the encoder to be measured and the acquisition and operation direction of the correction encoder, the correction encoder position data corresponding to each position data to be corrected can be converted to data conversion processing, so that the correction position data corresponding to the position data to be corrected can be obtained, and then data combination can be performed based on each position data to be corrected and the correction position data corresponding to each position data to be corrected to obtain a dual encoder position data pair. Among them, the data bit number attribute information of the encoder to be measured can be used to represent the data bit number of the encoder to be measured.

[0066] In an optional implementation, this embodiment performs data conversion processing on the correction encoder position data corresponding to each position data to be corrected based on the data bit attribute information of the encoder under test, combined with the acquisition and operation direction of the encoder under test and the acquisition and operation direction of the correction encoder, to obtain the correction position data corresponding to the position data to be corrected. Specifically, it may include: for each correction encoder position data, data scaling is performed based on the data bit attribute information of the encoder under test to obtain the scaled data corresponding to the correction encoder position data; if the acquisition and operation direction of the encoder under test is the same as the acquisition and operation direction of the correction encoder, the scaled data is determined as the correction position data; if the acquisition and operation direction of the encoder under test is opposite to the acquisition and operation direction of the correction encoder, the reverse data of the scaled data is determined as the correction position data. Among them, the scaled data corresponding to the correction encoder position data can be used to determine the correction position data scaled to the same number of bits of the encoder under test, so that the correction position data can be used to correct the position data to be corrected of the encoder under test later.

[0067] Specifically, when the number of bits of the high-precision correction encoder is greater than the number of bits of the measured encoder, the present embodiment can perform data scaling on each correction encoder position data based on the data bit attribute information of the measured encoder, so as to scale the high-precision correction encoder position to the same number of bits of the measured encoder, obtain the scaled data corresponding to the correction encoder position data, and realize the scaling of the high-precision encoder bit to the same number of bits of the measured encoder, and then the correction position data corresponding to the position data to be corrected can be determined based on the scaled data, combined with the acquisition and operation direction of the measured encoder and the acquisition and operation direction of the correction encoder. Specifically, it can be determined whether the acquisition and operation direction of the measured encoder and the acquisition and operation direction of the correction encoder are the same, so that when the acquisition and operation direction of the measured encoder and the acquisition and operation direction of the correction encoder are the same, that is, when the direction of the dual encoder data change is the same, the scaled data can be directly determined as the correction position data corresponding to the position data to be corrected; and when the acquisition and operation direction of the measured encoder and the acquisition and operation direction of the correction encoder are opposite, that is, when the direction of the dual encoder data change is opposite, the reverse data of the scaled data is determined as the correction position data. For example, when the encoder under test and the correction encoder are connected in a pair-and-drag manner and the dual-axis synchronous rotation is maintained, that is, when the dual encoders adopt a pair-and-drag manner for data sampling, the directions of change of the dual encoder data are opposite. The dual encoder data in opposite directions can be adjusted to the same direction for correction. For example, the correction encoder data can be inverted to speed up the correction encoder resolution and obtain reverse correction encoder data as the correction position data that corresponds one-to-one to the position data to be corrected.

[0068] Step 140, performing interpolation processing according to the position data to be corrected and the corrected position data to obtain an accuracy data pair, wherein the accuracy data pair includes single-turn accuracy data of the encoder under test and correction accuracy data corresponding to the single-turn accuracy data in a one-to-one manner;

[0069] In the specific implementation, the encoder under test and the correction encoder should theoretically satisfy a point-to-point correspondence relationship, and the two should theoretically be in a straight line relationship. Acquiring dual encoder data through acquisition is equivalent to randomly selecting certain data points within one circle of the encoder. The spacing between points varies randomly and cannot represent the direct error law of the dual encoder within the entire circle. In this embodiment, the dual encoder sampling data can be interpolated to the accuracy of the encoder resolution by performing linear interpolation between each pair of sampling points, that is, the correction position data is interpolated according to the position data to be corrected and the correction position data corresponding to the position data to be corrected, and the single-turn accuracy data of the encoder under test and the correction accuracy data corresponding to the single-turn accuracy data are obtained. The accuracy data pair can be generated based on the single-turn accuracy data of the encoder under test and the correction accuracy data corresponding to the single-turn accuracy data, so that the accuracy data pair can include the single-turn accuracy data of the encoder under test and the correction accuracy data corresponding to the single-turn accuracy data.

[0070] In an optional implementation manner, this embodiment performs interpolation processing based on the position data to be corrected and the corrected position data to obtain a precision data pair, which may specifically include: performing linear interpolation based on the position data to be corrected and the corrected position data to obtain the correction straight line information corresponding to the encoder under test, and determining the precision data pair based on the correction straight line information. The precision data pair may refer to a data pair [C1, C2] on the accuracy of one turn of the encoder under test, wherein C1 may refer to the single turn accuracy data of the encoder under test, and C2 may refer to the correction accuracy data corresponding to the single turn accuracy data one-to-one.

[0071] Specifically, during the interpolation process, considering that the encoder's origin position and maximum position are generally difficult to sample to obtain corresponding position data, this embodiment can perform linear interpolation on the data between the encoder's maximum endpoint position and the minimum endpoint position to avoid data interpolation exceeding the encoder's maximum and minimum value range, thereby obtaining a data pair with one circle accuracy of the encoder under test as an accuracy data pair, thereby solving the problem caused by the position data to be corrected exceeding the maximum and minimum value range of the encoder under test due to data interpolation, and can effectively avoid the occurrence of encoder endpoint error jumps, thereby ensuring accurate correction of the encoder's absolute position.

[0072] Step 150: Generate error compensation information of the encoder under test according to the single-turn accuracy data and the correction accuracy data.

[0073] Specifically, after obtaining the accuracy data pair, this embodiment can use the single-turn accuracy data and the correction accuracy data in the accuracy data pair to determine the error information between the measured encoder and the correction encoder, and can generate error compensation information of the measured encoder based on the error information, so that the error compensation information can be used to compensate for the absolute positioning deviation of the measured encoder, thereby realizing accurate correction of the absolute position of the encoder, and solving the problem of low correction accuracy in the existing encoder correction method due to the difference between the correction process and the actual use of the encoder.

[0074] In a specific implementation, the encoder under test and the calibration encoder can usually use an absolute encoder, but during the installation process, it cannot be guaranteed that the origin positions of the dual encoder data completely coincide, so there may be a fixed offset value between each pair of dual encoder sampling data. In this embodiment, the deviation value of each pair of sampling data is calculated directly, and the arithmetic mean is calculated to be used as the offset value of the dual encoder origin, and then the calibration encoder data can be used to subtract the origin offset value to achieve zero point alignment of the dual encoder sampling data.

[0075] In an optional implementation, this embodiment generates the error compensation information of the encoder under test based on the single-turn accuracy data and the correction accuracy data, which may specifically include: using the correction accuracy data to subtract the single-turn accuracy data to obtain accuracy deviation information; filtering based on the accuracy deviation information to obtain error curve information; and generating an error correction table as the error compensation information based on the error curve information. Among them, the accuracy deviation information can be used to represent the error obtained by subtracting the position data of the dual encoders after interpolation to a full circle, and can be specifically used to generate an error curve between the encoder under test and the standard encoder. Considering the phenomenon of random error fluctuations in the encoder data sampling process, this embodiment can filter based on the accuracy deviation information after obtaining the accuracy deviation information, that is, filter the error curve between the encoder under test and the standard encoder to remove the sampling noise through line filtering to obtain a relatively balanced encoder correction curve, so that the error curve information can be generated based on the encoder correction curve, and then the error correction table as the error compensation information can be generated based on the error curve information, so that the error compensation information can be used to compensate for the absolute positioning deviation of the encoder under test and improve the absolute positioning accuracy of the encoder under test.

[0076] It should be noted that the encoder correction curve contains the deviation value between the tested encoder and the standard encoder within one circle of the encoder. The amount of data is very large. If all of it is stored in the encoder, it will take up a very large storage space. In this embodiment, the encoder correction curve can be segmented, such as evenly dividing the encoder correction curve into N segments, and storing them in the corrected encoder. The error curve within one circle of the encoder can be restored by linear interpolation between segments, thereby saving storage space. Wherein, N is an integer greater than 1.

[0077] As an example of the present application, the encoder under test and the calibration encoder can be connected by a coupling, such as Figure 2 As shown, the dual encoders can be connected by couplings to keep the dual shafts rotating synchronously, ensuring that the absolute positions of the dual encoders correspond one to one within one cycle. During the synchronous rotation of the encoder under test and the calibration encoder, the data acquisition card can be used to synchronously sample the absolute position values ​​of the dual encoders. Each pair of dual encoder position information can be stored as a pair of data, recorded as a pair of dual encoder original position data [S1, S2], for subsequent processing. Among them, the synchronization of the dual encoder position acquisition card is more important. The smaller the acquisition time interval of the dual encoder original position data, the better the encoder calibration effect.

[0078] After reading out the original data pair [S1, S2] of the dual encoder position from the data acquisition card, the first original position data S1 (i.e., the position value of the encoder under test) can be sorted in ascending order to obtain the re-sorted position information of the encoder under test, which is recorded as P1. While sorting the position information of the encoder under test, the subscript of each encoder under test can be recorded, such as d1, and then the high-precision encoder position can be detected from the second original position data S2 (i.e., the original data of the corrected encoder position) according to d1, and can be arranged according to d1 to regenerate the high-precision encoder position information, which is recorded as P2, so that the P1 and P2 obtained after sorting can be recombined into a data pair, which is recorded as the initial data pair [P1, P2], so that the initial data pair [P1, P2] satisfies a one-to-one correspondence at any position within one week.

[0079] During the data sampling process, the dual encoders may rotate multiple times, resulting in the original position data pair [S1, S2] of the dual encoders having the same position points. The initial data pair [P1, P2] obtained after reordering may also have duplicate data. If the data is duplicated, linear interpolation cannot be performed. Therefore, this example can delete the duplicate position points by searching for duplicate position data during the sorting process and deleting the duplicate position data (that is, deleting the data of invalid data points), so that the data pairs of valid data points can be used for linear interpolation to obtain the dual encoder position data pairs.

[0080] In addition, considering that the dual encoders are directly sampled, there is a reverse situation in the running direction of the dual encoders. If the direction of the increase of the dual encoder position is counterclockwise rotation, the dual encoder data change will be reversed. In addition, since the number of bits of the high-precision encoder (i.e., the number of bits of the correction encoder) is greater than the number of bits of the encoder under test, this example can scale the high-precision encoder position to the same number of bits of the encoder under test through data scaling, that is, scale the high-precision encoder bit to the same number of bits of the corrected encoder, and at the same time, the high-precision encoder can be reversed. The position data pair [D1, D2] of the dual encoder position is obtained by data reversal, so that the dual encoder positions are basically aligned one by one. It should be noted that D1 in the dual encoder position data pair [D1, D2] can represent the position data to be corrected of the encoder under test; D2 can represent the correction position data corresponding to the position data to be corrected.

[0081] In addition, considering that the dual encoder data sampling is discrete, the data pairs collected for multiple turns and sorted may still not reach the data volume with the highest accuracy of the encoder under test, and the data after sorting may have uneven data points. If the dual encoder position data pair [D1, D2] is used directly to make the error curve, it may cause the error curve deviation. The two curves made by the dual encoder position data pair [D1, D2] should be equal in theory. Due to the influence of the absolute positioning accuracy of the encoder under test, there may be a periodic error, but the correspondence between the position data D1 to be corrected and the corrected position data D2 of the encoder under test can still be understood as satisfying a linear relationship. Therefore, this example can use the position data D1 to be corrected as the horizontal coordinate and the corrected position data D2 as the vertical coordinate to perform linear interpolation, so as to interpolate the correspondence between the dual encoder position data pair [D1, D2] to the highest accuracy of the position data D1 to be corrected (such as the highest accuracy of the position data D1 to be corrected is 8388608), so as to interpolate the data to the highest accuracy of the encoder under test, and regenerate the data pair with the accuracy of one circle of the encoder under test, which is recorded as the accuracy data pair [C1, C2]. It should be noted that, in the accuracy data pair [C1, C2], C1 may represent the single-turn accuracy data of the encoder under test; and C2 may represent the correction accuracy data corresponding one-to-one to the single-turn accuracy data of the encoder under test.

[0082] After the data is interpolated to the highest precision data, affected by the sampling deviation, the absolute position error curve within one circle of the measured encoder will show relatively large burrs. It is necessary to filter the error curve to obtain the filtered error curve. For example, the curve corresponding to the correction accuracy data C2 is subtracted from the curve corresponding to the single-circle accuracy data C1. The absolute accuracy deviation curve within one circle of the measured encoder can be obtained, which is recorded as the dual encoder error curve E within one circle, such as Figure 3As shown; wherein the horizontal coordinate of the dual encoder error curve E can be the encoder position of the encoder under test, and the vertical coordinate of the dual encoder error curve E can be the deviation corresponding to the encoder position. Subsequently, the data on the dual encoder error curve E can be determined as the accuracy deviation information, and the accuracy deviation information can be used for filtering processing to obtain the error curve T, as shown in Figure 4 As shown, the data on the error curve T can be used to determine the error curve information, so that an error correction table can be generated as the error compensation information based on the error curve information. For example, data of 128 points on the error curve can be evenly selected to generate a 128-point error correction table. The error compensation table can then be stored in the electrically erasable programmable read-only memory (EEPROM) of the encoder to avoid the problem that the storage of error compensation information occupies a very large storage space due to the large amount of data with the highest accuracy, so that the absolute positioning of the encoder can be corrected through the error compensation table to obtain a more accurate absolute position value of the encoder.

[0083] On the basis of the above-mentioned embodiments, optionally, the correction processing method based on encoder correction processing provided in the embodiments of the present application may also include the following steps: reading the current position data of the encoder during the position calculation process of the encoder under test; determining the position compensation data corresponding to the current position data of the encoder based on the error compensation information; and performing position correction on the encoder under test according to the position compensation data to obtain the absolute position result of the encoder under test.

[0084] Reference Figure 5 , shows a flowchart of a correction processing method based on an encoder provided in an optional embodiment of the present application. Specifically, the correction processing method based on the encoder may include the following steps:

[0085] Step 510, for the encoder under test, obtaining dual encoder acquisition position data, wherein the dual encoder acquisition position data includes first original position data corresponding to the encoder under test and second original position data corresponding to the correction encoder;

[0086] Step 520, performing sorting processing according to the first original position data and the second original position data to obtain an initial data pair;

[0087] Step 530, performing encoder data processing according to the initial data pair to obtain a dual encoder position data pair, wherein the dual encoder position data pair includes the position data to be corrected of the encoder under test and the correction position data corresponding to the position data to be corrected one by one;

[0088] Step 540, performing interpolation processing according to the position data to be corrected and the corrected position data to obtain an accuracy data pair, wherein the accuracy data pair includes the single-turn accuracy data of the encoder under test and the correction accuracy data corresponding to the single-turn accuracy data in a one-to-one manner;

[0089] Step 550, generating error compensation information of the encoder under test according to the single-turn accuracy data and the correction accuracy data;

[0090] Step 560, during the position calculation process of the encoder under test, reading the current position data of the encoder;

[0091] Step 570, determining position compensation data corresponding to the current position data of the encoder based on the error compensation information;

[0092] Step 580: Perform position correction on the encoder under test according to the position compensation data to obtain an absolute position result of the encoder under test.

[0093] In summary, the embodiment of the present application obtains the dual encoder acquired position data for the encoder under test, and sorts the first original position data and the second original position data in the dual encoder acquired position data, and then processes the encoder data according to the initial data obtained by the sorting process to obtain the position data to be corrected and the corrected position data corresponding to the position data to be corrected, and interpolates the position data to be corrected and the corrected position data to obtain the single-turn accuracy data of the encoder under test and the corrected accuracy data corresponding to the single-turn accuracy data, so that the error compensation information of the encoder under test can be generated based on the single-turn accuracy data and the corrected accuracy data, and then the position compensation data corresponding to the current position data of the encoder read in the absolute position calculation process of the encoder under test can be determined through the error compensation information, so that the position correction of the encoder under test can be performed based on the position compensation data to obtain the absolute position result of the encoder under test, thereby realizing accurate correction of the absolute position of the encoder and improving the absolute positioning accuracy of the encoder under test.

[0094] For example, in combination with the above example, when the error correction table is generated based on the error curve information, each time the measured encoder calculates the position, the absolute positioning of the measured encoder can be corrected through the error compensation table to obtain a more accurate encoder absolute position value, thereby improving the absolute positioning accuracy of the measured encoder. Specifically, each time the measured encoder calculates the position, the current encoder position value of the measured encoder can be read as the current position data of the encoder, and then the position of the correction error table corresponding to the current encoder position value can be found to perform interpolation according to the error table to obtain the error value that needs to be compensated for the current encoder position, so that the current encoder position value can be accelerated to the error value that needs to be compensated, and the corrected encoder absolute position value can be obtained to achieve accurate correction of the encoder absolute position, such as when a 23-bit encoder is used as the measured encoder, the absolute positioning accuracy of the 23-bit encoder can be increased to within 10 arc seconds. It can be seen that after the encoder is assembled, the correction processing method provided by the embodiment of the present application can effectively improve the absolute positioning accuracy of the encoder and achieve encoder position correction.

[0095] Furthermore, the embodiment of the present application also provides a correction processing device based on an encoder, such as Figure 6 As shown, the encoder-based correction processing device 600 may include the following modules:

[0096] The dual encoder data acquisition module 610 is used to acquire dual encoder acquisition position data for the encoder under test, wherein the dual encoder acquisition position data includes first original position data corresponding to the encoder under test and second original position data corresponding to the correction encoder;

[0097] A sorting processing module 620, configured to perform sorting processing on the first original position data and the second original position data to obtain an initial data pair;

[0098] An encoder data processing module 630 is used to perform encoder data processing according to the initial data pair to obtain a dual encoder position data pair, wherein the dual encoder position data pair includes the position data to be corrected of the encoder under test and the correction position data corresponding to the position data to be corrected one by one;

[0099] A data interpolation processing module 640 is used to perform interpolation processing according to the position data to be corrected and the correction position data to obtain an accuracy data pair, wherein the accuracy data pair includes the single-turn accuracy data of the encoder under test and the correction accuracy data corresponding to the single-turn accuracy data in a one-to-one manner;

[0100] The error compensation information module 650 is used to generate error compensation information of the encoder under test according to the single-turn accuracy data and the correction accuracy data.

[0101] Optionally, the dual encoder data acquisition module 610 may include the following submodules:

[0102] A collection time interval submodule is used to determine the collection time interval;

[0103] The synchronous acquisition submodule is used to synchronously acquire the single-turn position information of the encoder under test and the single-turn position information of the correction encoder according to the acquisition time interval, obtain the first original position data and the second original position data, and record the original data acquisition identifiers corresponding to the first original position data and the second original position data.

[0104] Optionally, the encoder under test and the correction encoder are fastened to each other via a coupling, and the encoder under test and the correction encoder are in a synchronous rotation state during the acquisition process, and the absolute positioning accuracy of the correction encoder is higher than the absolute positioning accuracy of the encoder under test.

[0105] Optionally, the sorting processing module 620 may include the following submodules:

[0106] A first sorting processing submodule, used for sorting the first original position data to obtain corrected encoder position data, wherein the corrected encoder position data includes at least two initial position data of the encoder under test;

[0107] A second sorting processing submodule is used to sort the second original position data according to the original data collection identifier corresponding to the initial position data to obtain target accuracy encoder position data, wherein the target accuracy encoder position data includes correction encoder position data corresponding to the initial position data one by one;

[0108] The initial data pair submodule is used to combine each of the initial position data with the correction encoder position data corresponding to the initial position data to obtain the initial data pair.

[0109] Optionally, the encoder data processing module 630 may include the following submodules:

[0110] a deduplication submodule, configured to perform deduplication processing based on the initial data pair to obtain a target data pair, wherein the target data pair includes the position data to be corrected of the encoder under test and the correction encoder position data corresponding one-to-one to the position data to be corrected;

[0111] A data conversion processing submodule is used to perform data conversion processing on the correction encoder position data corresponding to each position data to be corrected based on the data bit attribute information of the encoder under test, in combination with the acquisition and operation direction of the encoder under test and the acquisition and operation direction of the correction encoder, to obtain the correction position data corresponding to the position data to be corrected one by one;

[0112] The data combination submodule is used to combine each of the position data to be corrected with the correction position data corresponding to the position data to be corrected to obtain the dual encoder position data pair.

[0113] Optionally, the data conversion processing submodule can be specifically used to: for each of the correction encoder position data, perform data scaling based on the data bit number attribute information of the measured encoder to obtain scaled data corresponding to the correction encoder position data; if the acquisition and running direction of the measured encoder is the same as the acquisition and running direction of the correction encoder, then determine the scaled data as the correction position data; if the acquisition and running direction of the measured encoder is opposite to the acquisition and running direction of the correction encoder, then determine the reverse data of the scaled data as the correction position data.

[0114] Optionally, the encoder-based correction processing device may further include the following modules:

[0115] An encoder reading module is used to read the current position data of the encoder during the position calculation process of the encoder under test;

[0116] A position compensation data module, used to determine the position compensation data corresponding to the current position data of the encoder based on the error compensation information;

[0117] The position correction module is used to perform position correction on the encoder under test according to the position compensation data to obtain an absolute position result of the encoder under test.

[0118] Optionally, the data interpolation processing module may include the following submodules:

[0119] A linear interpolation submodule, used for performing linear interpolation based on the position data to be corrected and the correction position data to obtain correction line information corresponding to the encoder under test;

[0120] The precision data pair submodule is used to determine the precision data pair based on the correction straight line information.

[0121] Error compensation information module

[0122] Optionally, the error compensation information module may include the following submodules:

[0123] The precision deviation information submodule is used to obtain precision deviation information by subtracting the single-turn precision data from the correction precision data;

[0124] A filtering processing submodule, used for performing filtering processing based on the accuracy deviation information to obtain error curve information;

[0125] The error correction table generating submodule is used to generate an error correction table as the error compensation information based on the error curve information.

[0126] It should be noted that the encoder-based correction processing device provided above can execute the correction processing method provided in any embodiment of the present application, and has the corresponding functions and beneficial effects of the execution method.

[0127] Furthermore, an embodiment of the present application also provides an electronic device, including a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus; the memory is used to store computer programs; and the processor is used to implement the steps of the encoder-based correction processing method described in any one of the above method embodiments when executing the program stored in the memory.

[0128] In addition, an embodiment of the present application further provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of the encoder-based correction processing method described in any of the above method embodiments are implemented.

[0129] It should be noted that each embodiment in this specification is described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same or similar parts between the embodiments can be referred to each other. For the device, equipment, and storage medium embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0130] In this article, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprises", "comprising" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprising a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0131] The above description is only a specific implementation of the present application, so that those skilled in the art can understand or implement the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest range consistent with the principles and novel features applied for herein.

Claims

1. A correction processing method based on an encoder, characterized in that: include: For the encoder under test, obtaining dual encoder acquisition position data, the dual encoder acquisition position data comprising first original position data corresponding to the encoder under test and second original position data corresponding to the correction encoder, wherein the encoder under test and the correction encoder are absolute encoders; Sorting the first original position data and the second original position data to obtain an initial data pair; Performing encoder data processing according to the initial data pair to obtain a dual encoder position data pair, wherein the dual encoder position data pair includes the position data to be corrected of the encoder under test and the correction position data corresponding to the position data to be corrected one by one; Performing interpolation processing according to the position data to be corrected and the corrected position data to obtain an accuracy data pair, wherein the accuracy data pair includes single-turn accuracy data of the encoder under test and correction accuracy data corresponding to the single-turn accuracy data in a one-to-one manner; Generating error compensation information of the encoder under test according to the single-turn accuracy data and the correction accuracy data; The method of performing a sorting process on the first original position data and the second original position data to obtain an initial data pair includes: performing a sorting process on the first original position data, wherein the sorting process is to sort the initial position data contained in the first original position data in descending order to obtain corrected encoder position data, wherein the corrected encoder position data includes at least two initial position data of the encoder under test; performing a sorting process on the second original position data according to the original data acquisition identifier corresponding to the initial position data to obtain target accuracy encoder position data, wherein the target accuracy encoder position data includes corrected encoder position data corresponding to the initial position data one by one; for each of the initial position data, combining the corrected encoder position data corresponding to the initial position data to obtain the initial data pair; wherein the acquisition time or acquisition sequence number of the first original position data is recorded as the original data acquisition identifier; Among them, the encoder data processing based on the initial data pair to obtain a dual encoder position data pair includes: performing duplicate deletion processing based on the initial data pair to obtain a target data pair, the target data pair including the position data to be corrected of the encoder under test and the correction encoder position data corresponding one-to-one to the position data to be corrected; based on the data bit attribute information of the encoder under test, combined with the acquisition and operation direction of the encoder under test and the acquisition and operation direction of the correction encoder, performing data conversion processing on the correction encoder position data corresponding to each position data to be corrected to obtain the correction position data corresponding one-to-one to the position data to be corrected; for each position data to be corrected, combining the correction position data corresponding to the position data to be corrected to obtain the dual encoder position data pair.

2. The correction processing method according to claim 1, characterized in that: For the encoder under test, obtain the dual encoder acquisition position data, including: Determine the collection time interval; According to the collection time interval, the single-turn position information of the encoder under test and the single-turn position information of the correction encoder are synchronously collected to obtain the first original position data and the second original position data, and the original data collection identifiers corresponding to the first original position data and the second original position data are recorded.

3. The correction processing method according to claim 2, characterized in that: The measured encoder and the correction encoder are fastened together via a coupling, and the measured encoder and the correction encoder are in a synchronous rotation state during the acquisition process. The absolute positioning accuracy of the correction encoder is higher than that of the measured encoder.

4. The correction processing method according to claim 1, characterized in that: The method of performing data conversion processing on the correction encoder position data corresponding to each position data to be corrected based on the data bit attribute information of the encoder under test and in combination with the acquisition and operation direction of the encoder under test and the acquisition and operation direction of the correction encoder, and obtaining the correction position data corresponding to the position data to be corrected one by one, includes: For each of the correction encoder position data, data scaling is performed based on the data bit attribute information of the measured encoder to obtain scaled data corresponding to the correction encoder position data; If the acquisition running direction of the encoder under test is the same as the acquisition running direction of the correction encoder, the scaled data is determined as the correction position data; If the acquisition and running direction of the encoder under test is opposite to the acquisition and running direction of the correction encoder, the reverse data of the scaled data is determined as the correction position data.

5. The correction processing method according to claim 1, characterized in that: Also includes: During the position calculation process of the encoder under test, reading the current position data of the encoder; Based on the error compensation information, determining position compensation data corresponding to the current position data of the encoder; Performing position correction on the encoder under test according to the position compensation data to obtain an absolute position result of the encoder under test; The interpolation processing is performed based on the position data to be corrected and the corrected position data to obtain the precision data pair, including: performing linear interpolation based on the position data to be corrected and the corrected position data to obtain the correction straight line information corresponding to the encoder under test, and determining the precision data pair based on the correction straight line information; The error compensation information of the encoder under test is generated based on the single-turn accuracy data and the correction accuracy data, including: subtracting the single-turn accuracy data from the correction accuracy data to obtain accuracy deviation information; filtering based on the accuracy deviation information to obtain error curve information; and generating an error correction table as the error compensation information based on the error curve information.

6. A correction processing device based on an encoder, characterized in that: include: A dual encoder data acquisition module, used for acquiring dual encoder acquisition position data for the encoder under test, wherein the dual encoder acquisition position data includes first original position data corresponding to the encoder under test and second original position data corresponding to the correction encoder, wherein the encoder under test and the correction encoder are absolute encoders; A sorting processing module, used for performing sorting processing according to the first original position data and the second original position data to obtain an initial data pair; An encoder data processing module, configured to perform encoder data processing according to the initial data pair to obtain a dual encoder position data pair, wherein the dual encoder position data pair includes the position data to be corrected of the encoder under test and the correction position data corresponding one-to-one to the position data to be corrected; A data interpolation processing module, used for performing interpolation processing according to the position data to be corrected and the correction position data to obtain an accuracy data pair, wherein the accuracy data pair includes the single-turn accuracy data of the encoder under test and the correction accuracy data corresponding to the single-turn accuracy data in a one-to-one manner; An error compensation information module, used to generate error compensation information of the encoder under test according to the single-turn accuracy data and the correction accuracy data; Wherein, the sorting processing module includes: A first sorting processing submodule is used to sort the first original position data, wherein the sorting processing is to sort the initial position data included in the first original position data in descending order to obtain corrected encoder position data, wherein the corrected encoder position data includes at least two initial position data of the encoder under test; A second sorting processing submodule is used to sort the second original position data according to the original data collection identifier corresponding to the initial position data to obtain target accuracy encoder position data, wherein the target accuracy encoder position data includes correction encoder position data corresponding to the initial position data one by one, wherein the collection time or collection sequence number of the first original position data is recorded as the original data collection identifier; An initial data pair submodule, used for combining each of the initial position data with the correction encoder position data corresponding to the initial position data to obtain the initial data pair; Wherein, the encoder data processing module includes: a deduplication submodule, configured to perform deduplication processing based on the initial data pair to obtain a target data pair, wherein the target data pair includes the position data to be corrected of the encoder under test and the correction encoder position data corresponding one-to-one to the position data to be corrected; A data conversion processing submodule is used to perform data conversion processing on the correction encoder position data corresponding to each position data to be corrected based on the data bit attribute information of the encoder under test, in combination with the acquisition and operation direction of the encoder under test and the acquisition and operation direction of the correction encoder, to obtain the correction position data corresponding to the position data to be corrected one by one; The data combination submodule is used to combine each of the position data to be corrected with the correction position data corresponding to the position data to be corrected to obtain the dual encoder position data pair.

7. An electronic device, characterized in that: It includes a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other through the communication bus; Memory, used to store computer programs; A processor is used to implement the steps of the correction processing method described in any one of claims 1 to 5 when executing a program stored in a memory.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the correction processing method according to any one of claims 1 to 5 are implemented.

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