Position pulse generation device, system and method based on an absolute encoder

Abstract

The application relates to the technical field of pulse generators, in particular to a position pulse generation device, system and method based on an absolute encoder. The device is arranged on a rotary table carrying an optoelectronic device and comprises an absolute encoder and a circuit board. The circuit board comprises an encoder receiving circuit, an FPGA chip, a differential pulse sending chip, a serial port transceiver circuit, an FPGA configuration circuit and a power supply circuit. The FPGA chip is used for receiving an angle signal sent by the encoder receiving circuit in real time. When the current angle reaches a nearby interval, the angle of the rotary table is predicted based on the current angle, a fixed angle required by the optoelectronic device and the rotating speed of the rotary table, and a first pulse signal is emitted to the differential pulse sending chip when the rotary table is predicted to reach the fixed angle, so that the differential pulse sending chip emits a target pulse signal. The scheme can realize the function of predicting the fixed angle, thereby realizing the function of repeatedly emitting the pulse signal at the fixed position with high precision.

Description

Technical Field

[0001] This invention relates to the field of pulse generator technology, and in particular to a position pulse generating device, system and method based on an absolute encoder. Background Technology

[0002] In optoelectronic products, a fixed angle needs to be provided for each rotation of the turntable. For example, in optoelectronic search equipment, the same fixed angle needs to be obtained as the starting point of the search in each rotation cycle, or the image needs to be pieced together based on the fixed angle. The accuracy requirement of this fixed angle is high, and common optoelectronic switch sensors cannot achieve this accuracy.

[0003] Therefore, a new position pulse generator is urgently needed. Summary of the Invention

[0004] To address the issue of low position accuracy in traditional photoelectric switch sensors when providing repeating pulses at fixed positions, this invention provides a position pulse generator, system, and method based on an absolute encoder.

[0005] In a first aspect, embodiments of the present invention provide a position pulse generator based on an absolute encoder, disposed on a turntable equipped with photoelectric devices, comprising:

[0006] An absolute encoder and a circuit board; the circuit board includes an encoder receiving circuit, an FPGA chip, a differential pulse transmitting chip, a serial transceiver circuit, an FPGA configuration circuit, and a power supply circuit; wherein...

[0007] The input terminal of the encoder receiving circuit is electrically connected to the absolute encoder, and the output terminal of the encoder receiving circuit is electrically connected to the input terminal of the FPGA chip. The encoder receiving circuit is used to convert the angle signal collected in real time by the absolute encoder into voltage and send it to the FPGA chip.

[0008] The input terminal of the power supply circuit is connected to an external power supply, and the output terminal of the power supply circuit is connected to the power supply terminals of the encoder receiving circuit, the differential pulse transmitting chip, the serial transceiver circuit, and the FPGA configuration circuit, respectively. The power supply circuit is used to convert the supply voltage provided by the power supply to the corresponding target voltage, so as to use the target voltage to supply power to the encoder receiving circuit, the differential pulse transmitting chip, the serial transceiver circuit, and the FPGA configuration circuit, respectively.

[0009] The serial transceiver circuit is connected between the communication terminal of the FPGA chip and the external host computer. The serial transceiver circuit is used to convert the communication signal of the FPGA chip and the serial signal sent by the host computer into voltage and then send them to the host computer and the FPGA chip respectively. The serial signal contains the fixed angle required by the optoelectronic device and the rotation speed of the turntable.

[0010] The output terminal of the FPGA chip is connected to the differential pulse transmitting chip. The FPGA chip is used to receive the angle signal sent in real time by the encoder receiving circuit. When the current angle reaches the adjacent interval, the angle of the turntable is predicted based on the current angle, the fixed angle and the rotation speed. When the turntable is predicted to reach the fixed angle, the FPGA chip sends a first pulse signal to the differential pulse transmitting chip so that the differential pulse transmitting chip sends a target pulse signal.

[0011] Secondly, embodiments of the present invention also provide a position pulse generation system based on an absolute encoder, comprising: a host computer, a power supply, and a position pulse generation device as described in any embodiment of this specification;

[0012] The host computer is electrically connected to the position pulse generator and is used to communicate with the position pulse generator;

[0013] The power supply is electrically connected to the position pulse generator and is used to provide power supply voltage to the position pulse generator.

[0014] Thirdly, embodiments of the present invention also provide a position pulse generation method based on the generating device described in any embodiment of this specification, applied to an FPGA chip, the FPGA chip being disposed on a turntable equipped with an optoelectronic device, comprising:

[0015] A serial port transceiver circuit is used to convert the serial port signal sent from the host computer to a voltage to obtain a voltage-converted serial port signal; wherein, the serial port signal contains the fixed angle required by the optoelectronic device and the rotation speed of the turntable;

[0016] Calculate the adjacent interval based on the fixed angle and the rotation speed;

[0017] The encoder receiving circuit is used to perform voltage conversion on the angle signal acquired in real time by the absolute encoder to obtain the voltage-converted angle signal.

[0018] The real-time angle of the turntable is obtained based on the angle signal after voltage conversion;

[0019] When the current angle of the turntable reaches the adjacent range, the angle of the turntable is predicted based on the current angle, the fixed angle and the rotation speed, until the turntable is predicted to reach the fixed angle, at which point a first pulse signal is transmitted to the differential pulse transmitting chip, so as to use the differential pulse transmitting chip to emit a target pulse signal.

[0020] This invention provides a position pulse generator, system, and method based on an absolute encoder. The position pulse generator is mounted on a turntable equipped with photoelectric devices and includes an absolute encoder and a circuit board. The circuit board includes an encoder receiving circuit, an FPGA chip, a differential pulse transmitting chip, a serial transceiver circuit, an FPGA configuration circuit, and a power supply circuit. The FPGA chip receives the turntable's angle signal, which is collected in real time by the absolute encoder. When the turntable's current angle reaches a nearby range, the angle of the turntable is predicted based on the current angle, a fixed angle sent by the host computer, and the turntable's rotation speed. When the predicted fixed angle is reached, a first pulse signal is transmitted to the differential pulse transmitting chip, which then emits the target pulse signal. Therefore, this solution can use an absolute encoder to collect the turntable's angle signal and, through the calculations of the FPGA chip, achieve the function of predicting a fixed angle, thereby realizing a high-precision repetitive pulse transmission function at a fixed position. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of the composition of a position pulse generator based on an absolute encoder according to an embodiment of the present invention;

[0023] Figure 2 This is a schematic diagram illustrating the composition of a software module of an FPGA chip according to an embodiment of the present invention;

[0024] Figure 3 This is a flowchart of a position pulse generation method based on an absolute encoder provided in an embodiment of the present invention. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0026] As mentioned earlier, in optoelectronic products, it is necessary to obtain the same fixed angle as the starting point of the search in each rotation cycle or to piece together the image based on this fixed angle. However, the accuracy requirement of this fixed angle is high, and common optoelectronic switch sensors cannot achieve this accuracy.

[0027] To solve the above technical problems, the inventors considered using a common high-precision position sensor - an encoder - to achieve repetitive pulse transmission at a fixed position. However, encoders are divided into absolute encoders and incremental encoders. Incremental encoders use a counting mode and can accumulate to any angle. Theoretically, they can be used as position sensors for photoelectric turntables to achieve pulse transmission at any angle. However, incremental encoders need to perform zeroing, and the angle error generated in each revolution will continue to accumulate. Therefore, a position pulse generator based on an incremental encoder not only wastes time on zeroing, but also cannot guarantee long-term accuracy requirements due to error accumulation.

[0028] Therefore, the inventors chose an absolute encoder, which does not require zeroing and does not accumulate errors. However, an absolute encoder only replies with a real-time angle encoder signal after receiving a pulse command. The pulse commands we send to the absolute encoder will inevitably have time intervals, which will result in the inability to receive encoder signals for all known angles. Therefore, in order to send pulses at a fixed angle in each revolution, it is necessary to use an FPGA chip to predict the angle of the turntable based on the current angle, the fixed angle, and the rotation speed of the turntable when the current angle returned by the absolute encoder reaches the vicinity of the fixed angle. This prediction continues until the turntable reaches the predicted fixed angle, at which point the differential pulse transmitting chip sends out the target pulse signal. In this way, the absolute encoder can be used to ensure that the turntable generates a fixed pulse at a fixed angle in each revolution, and the accuracy of that fixed angle is improved.

[0029] The following describes the specific implementation of the above concept.

[0030] Please refer to Figure 1 This invention provides a position pulse generator based on an absolute encoder, mounted on a turntable equipped with photoelectric devices. The generator includes:

[0031] An absolute encoder and circuit board; the circuit board includes an encoder receiving circuit, an FPGA chip, a differential pulse transmitting chip, a serial transceiver circuit, an FPGA configuration circuit, and a power supply circuit; among which,

[0032] The input terminal of the encoder receiving circuit is electrically connected to the absolute encoder, and the output terminal of the encoder receiving circuit is electrically connected to the input terminal of the FPGA chip. The encoder receiving circuit is used to convert the angle signal acquired in real time by the absolute encoder into voltage and send it to the FPGA chip.

[0033] The input terminal of the power supply circuit is connected to an external power supply, and the output terminal of the power supply circuit is connected to the power supply terminals of the encoder receiving circuit, the differential pulse transmitting chip, the serial transceiver circuit, and the FPGA configuration circuit, respectively. The power supply circuit is used to convert the supply voltage provided by the power supply to the corresponding target voltage, so as to use the target voltage to power the encoder receiving circuit, the differential pulse transmitting chip, the serial transceiver circuit, and the FPGA configuration circuit, respectively.

[0034] The serial transceiver circuit is connected between the communication terminal of the FPGA chip and the external host computer. The serial transceiver circuit is used to convert the communication signal of the FPGA chip and the serial signal sent from the host computer into voltage and then send them to the host computer and the FPGA chip respectively. The serial signal contains the fixed angle required by the optoelectronic equipment and the rotation speed of the turntable.

[0035] The output of the FPGA chip is connected to the differential pulse transmitter chip. The FPGA chip is used to receive the angle signal sent in real time by the encoder receiving circuit. When the current angle reaches the adjacent range, the angle of the turntable is predicted based on the current angle, the fixed angle and the rotation speed. When the turntable is predicted to reach the fixed angle, the first pulse signal is sent to the differential pulse transmitter chip so that the differential pulse transmitter chip can send the target pulse signal.

[0036] In this embodiment of the invention, a position pulse generator is mounted on a turntable equipped with photoelectric devices, comprising: an absolute encoder and a circuit board; the circuit board includes an encoder receiving circuit, an FPGA chip, a differential pulse transmitting chip, a serial transceiver circuit, an FPGA configuration circuit, and a power supply circuit. The FPGA chip receives the turntable's angle signal, which is collected in real-time by the absolute encoder. When the turntable's current angle reaches an adjacent range, the angle of the turntable is predicted based on the current angle, a fixed angle sent by the host computer, and the turntable's rotation speed. This prediction continues until the turntable reaches the predicted fixed angle, at which point a first pulse signal is transmitted to the differential pulse transmitting chip, which then emits the target pulse signal. Therefore, this solution utilizes an absolute encoder to collect the turntable's angle signal and, through the calculations of the FPGA chip, achieves the function of predicting a fixed angle, thereby enabling high-precision repetitive pulse transmission at a fixed position.

[0037] It should be noted that, due to the need for high-precision, high-real-time angle prediction, commonly used control chips such as DSPs and Arm chips are limited by their computation cycle and cannot perform high-precision, high-real-time angle prediction. Therefore, this invention uses an FPGA chip as the main computing chip for angle prediction. Furthermore, since the absolute encoder only replies with a real-time angle encoder signal after receiving a pulse command, the FPGA chip also sends a pulse command to the absolute encoder at preset intervals via an interface (not shown in the figure). This instructs the absolute encoder to send its current angle signal to the FPGA chip through the encoder receiving circuit, thereby achieving the purpose of the absolute encoder sending the real-time acquired angle signal to the FPGA chip.

[0038] Furthermore, since the voltage of the angle signal sent by the absolute encoder does not match the signal voltage that the FPGA chip can receive, an encoder receiving circuit needs to be set up between the absolute encoder and the FPGA chip to perform voltage conversion on the angle signal sent by the absolute encoder. Similarly, the voltage of the serial port signal sent by the host computer does not match the signal voltage that the FPGA chip can receive, and the voltage of the communication signal sent by the FPGA chip also does not match the signal voltage that the host computer can receive. To achieve communication between the host computer and the FPGA chip, a serial transceiver circuit needs to be set up between the host computer and the FPGA chip to perform voltage conversion on the communication signals between the host computer and the FPGA chip.

[0039] Furthermore, in this embodiment, the external power supply provides a voltage of 24V, which is too high. Therefore, a power supply circuit needs to be set on the circuit board to convert the power supply voltage into target voltages of 3.3V, 1.8V, and 5V. While supplying power to the FPGA configuration circuit, the FPGA configuration circuit provides 3.3V or 1.8V to the FPGA chip as the working mode is switched. The encoder receiving circuit, differential pulse transmitting chip, and serial transceiver circuit all require a target voltage of 5V.

[0040] In some implementations, the FPGA chip can predict the turntable angle using the following formula:

[0041]

[0042] In the formula, T is the time required for the current angle to reach the fixed angle, A is the fixed angle, a is the current angle, and v is the rotation speed of the turntable.

[0043] It is understandable that the fixed angle A and the rotation speed v of the turntable are sent in advance by the host computer. When the current angle a sent by the absolute encoder reaches the adjacent interval, the time T required to reach the fixed angle from the current angle can be predicted by the above formula. After time T, the differential pulse sending chip can be controlled to send the target pulse signal, so as to achieve the purpose of the turntable to send the target pulse at the fixed angle every revolution.

[0044] However, performing the division operation between the two variables in the above formula using hardware logic consumes significant resources and involves a complex circuit structure. Therefore, implementing division operations on an FPGA chip cannot be solved simply by using a " / " sign; a custom division operation needs to be designed. Currently, the most common approach is to use an IP Core. Alternatively, the division delay can be selected; of course, the smaller the delay, the more resources are consumed.

[0045] Therefore, since implementing the above calculation method on an FPGA chip is relatively complex and consumes a lot of resources, in order to reduce resource consumption and speed up the operation of the FPGA chip, such as... Figure 2 As shown, in this embodiment of the invention, the FPGA chip includes: a clock divider module, an encoder parsing module, an angle prediction module, a pulse transmission module, a serial port transmission module, and a serial port receiving module;

[0046] The clock divider module is used to send a second pulse signal once at a set interval;

[0047] The input terminals of the encoder parsing module are connected to the encoder receiving circuit and the clock divider module, respectively. The output terminals of the encoder parsing module are connected to the input terminal of the angle prediction module and the serial port transmission module, respectively. The encoder parsing module is used to decode the angle signal sent in real time by the encoder receiving circuit to obtain the real-time angle of the turntable.

[0048] The input terminals of the angle prediction module are connected to the output terminals of the clock divider module, the encoder parsing module, and the serial port receiving module, respectively. The output terminal of the angle prediction module is connected to the pulse transmission module. The angle prediction module is used to receive the real-time angle of the turntable sent by the encoder parsing module and determine whether the current angle of the turntable is within the adjacent range. If so, it starts to receive the second pulse signal from the clock divider module and predicts the angle of the turntable based on the number of received second pulse signals, the set time, the current angle, the fixed angle, and the rotation speed, until the predicted turntable reaches the fixed angle and sends a signal to the pulse transmission module so that the pulse transmission module transmits the first pulse signal to the differential pulse transmission chip. If not, it continues to receive the real-time angle of the turntable sent by the encoder parsing module.

[0049] Both the serial port transmitting module and the serial port receiving module are connected to the serial port transceiver circuit. The serial port transmitting module is used to encode the communication signals of the FPGA chip, so that the encoded communication signals are sent to the host computer through the serial port transceiver circuit. The serial port receiving module is used to parse the serial port signals sent by the serial port transceiver circuit, obtain the fixed angle and rotation speed, and send them to the angle prediction module.

[0050] In this embodiment of the invention, the angle prediction module can predict the angle of the turntable in the following manner:

[0051] When the current angle of the turntable is in the adjacent range, the count of the number of second pulse signals sent by the clock divider module begins;

[0052] Calculate the difference between the fixed angle and the current angle;

[0053] Based on the number of second pulse signals, the set time, and the rotation speed, calculate the cumulative angle and determine whether each cumulative angle is equal to the difference.

[0054] When they are equal, a signal is sent to the pulse transmission module so that the pulse transmission module transmits the first pulse signal to the differential pulse transmission chip.

[0055] In this embodiment of the invention, the cumulative angle can be calculated using the following formula:

[0056] A′=m′·Δt·v

[0057] In the formula, A′ is the cumulative angle, m′ is the number of second pulse signals, Δt is the set time, and v is the rotation speed of the turntable.

[0058] For example, with a fixed angle of 180° and a neighboring interval of [176°, 180°), assuming the previous angle sent by the absolute encoder was 175°, and the current angle sent by the absolute encoder is 176.5°, the count of the second pulse signals sent by the clock divider module begins, and the difference between the fixed angle and the current angle is calculated to be 3.5°. When the clock divider module sends the first second pulse signal, the accumulated angle can be calculated as Δt·v using the above formula, and it is determined whether Δt·v equals 3.5°. If it does, a signal is sent to the pulse transmission module, causing the pulse transmission module to send the first pulse signal to the differential pulse transmission chip; if it does not equal 3.5°, when the second second pulse signal is received from the clock divider module, the accumulated angle is calculated as 2Δt·v, and it is determined whether 2Δt·v equals 3.5°, and so on, until the accumulated angle equals the difference. It can be seen that the FPGA chip does not need to perform division operations; by using angle accumulation to predict the turntable angle, resource consumption can be reduced and the calculation speed improved.

[0059] In some implementations, the upper limit of the adjacent interval is a fixed angle, and the lower limit of the adjacent interval is calculated using the following formula:

[0060]

[0061] In the formula, I is the lower limit of the adjacent interval, A is the fixed angle, v is the rotation speed of the turntable, F is the sampling frequency of the encoder parsing module, and k is the preset accuracy parameter.

[0062] In this embodiment, F represents the highest sampling frequency achievable by the encoder parsing module, and the accuracy parameter can be in the range of [2, 4]. When the accuracy parameter is small, the intervals between adjacent intervals are also small. Therefore, when the turntable's movement speed is affected by external resistance or other reasons, the angle information sent by the absolute encoder at preset time intervals is highly likely to skip adjacent intervals. For example, assuming the adjacent interval is [179.5°, 180°), the absolute encoder previously sent an angle of 179.3°, and this time it sends an angle of 180.1°. In this case, the target pulse signal will not be transmitted at the fixed angle of 180°. When the accuracy parameter is large, the intervals between adjacent intervals are also large. Therefore, after the current angle reaches the adjacent interval, predicting whether the turntable has reached the fixed angle by accumulating the angle will result in a long period of error accumulation, which will affect the position transmission accuracy of the target pulse signal. Therefore, this embodiment limits the accuracy parameter to the range of [2, 4].

[0063] This invention also provides a position pulse generation system based on an absolute encoder, comprising: a host computer, a power supply, and a position pulse generation device as described in any embodiment of this specification;

[0064] The host computer is electrically connected to the position pulse generator for communication with the position pulse generator;

[0065] The power supply is electrically connected to the position pulse generator and is used to provide power supply voltage to the position pulse generator.

[0066] Since the above system is based on the same concept as the device embodiment of the present invention, the specific details can be found in the description of the device embodiment of the present invention, and will not be repeated here.

[0067] like Figure 3 As shown, this embodiment of the invention also provides a position pulse generation method based on the generating device described in any embodiment of this specification, applied to an FPGA chip, the FPGA chip being disposed on a turntable equipped with an optoelectronic device, including:

[0068] Step 300: Using a serial transceiver circuit, the serial port signal sent from the host computer is converted to voltage to obtain the voltage-converted serial port signal; wherein, the serial port signal contains the fixed angle and the rotation speed of the turntable required by the optoelectronic device.

[0069] Step 302: Calculate the nearest interval based on the fixed angle and rotation speed;

[0070] Step 304: Using the encoder receiving circuit, the angle signal acquired in real time by the absolute encoder is converted into a voltage to obtain the voltage-converted angle signal.

[0071] Step 306: Obtain the real-time angle of the turntable based on the angle signal after voltage conversion;

[0072] Step 308: When the current angle of the turntable reaches the adjacent range, the angle of the turntable is predicted based on the current angle, the fixed angle and the rotation speed. When the turntable is predicted to reach the fixed angle, the first pulse signal is sent to the differential pulse sending chip so as to send the target pulse signal using the differential pulse sending chip.

[0073] In some implementations, the angle of the turntable in step 308 is predicted using the following formula:

[0074]

[0075] In the formula, T is the time required for the current angle to reach the fixed angle, A is the fixed angle, a is the current angle, and v is the rotation speed of the turntable.

[0076] Since the above method is based on the same concept as the device embodiment of the present invention, the specific details can be found in the description of the device embodiment of the present invention, and will not be repeated here.

[0077] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus.

[0078] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium includes various media that can store program code, such as ROM, RAM, magnetic disk, or optical disk.

[0079] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A position pulse generator based on an absolute encoder, characterized in that, The device, mounted on a turntable equipped with optoelectronic equipment, includes: an absolute encoder and a circuit board; the circuit board includes an encoder receiving circuit, an FPGA chip, a differential pulse transmitting chip, a serial transceiver circuit, an FPGA configuration circuit, and a power supply circuit; wherein... The input terminal of the encoder receiving circuit is electrically connected to the absolute encoder, and the output terminal of the encoder receiving circuit is electrically connected to the input terminal of the FPGA chip. The encoder receiving circuit is used to convert the angle signal collected in real time by the absolute encoder into voltage and send it to the FPGA chip. The input terminal of the power supply circuit is connected to an external power supply, and the output terminal of the power supply circuit is connected to the power supply terminals of the encoder receiving circuit, the differential pulse transmitting chip, the serial transceiver circuit, and the FPGA configuration circuit, respectively. The power supply circuit is used to convert the supply voltage provided by the power supply to the corresponding target voltage, so as to use the target voltage to supply power to the encoder receiving circuit, the differential pulse transmitting chip, the serial transceiver circuit, and the FPGA configuration circuit, respectively. The serial transceiver circuit is connected between the communication terminal of the FPGA chip and the external host computer. The serial transceiver circuit is used to convert the communication signal of the FPGA chip and the serial signal sent by the host computer into voltage and then send them to the host computer and the FPGA chip respectively. The serial signal contains the fixed angle required by the optoelectronic device and the rotation speed of the turntable. The output of the FPGA chip is connected to the differential pulse transmitting chip. The FPGA chip is used to receive the angle signal sent in real time by the encoder receiving circuit. When the current angle reaches the adjacent range, the angle of the turntable is predicted based on the current angle, the fixed angle and the rotation speed. When the turntable is predicted to reach the fixed angle, the first pulse signal is sent to the differential pulse transmitting chip so that the differential pulse transmitting chip emits the target pulse signal. The FPGA chip includes: a clock divider module, an encoder parsing module, an angle prediction module, a pulse transmission module, a serial port transmission module, and a serial port receiving module; The clock division module is used to send a second pulse signal once at a set time interval; The input terminal of the encoder parsing module is connected to the encoder receiving circuit and the clock divider module respectively, and the output terminal of the encoder parsing module is connected to the input terminal of the angle prediction module and the serial port transmission module respectively. The encoder parsing module is used to decode the angle signal sent in real time by the encoder receiving circuit to obtain the real-time angle of the turntable. The input terminal of the angle prediction module is connected to the clock divider module, the output terminal of the encoder parsing module, and the serial port receiving module, respectively. The output terminal of the angle prediction module is connected to the pulse sending module. The angle prediction module is used to receive the real-time angle of the turntable sent by the encoder parsing module, and determine whether the current angle of the turntable is in the adjacent range. If so, it starts to receive the second pulse signal from the clock divider module, and predicts the angle of the turntable based on the number of received second pulse signals, the set time, the current angle, the fixed angle, and the rotation speed, until the turntable is predicted to reach the fixed angle. Then, it sends a signal to the pulse sending module so that the pulse sending module transmits the first pulse signal to the differential pulse sending chip. If not, it continues to receive the real-time angle of the turntable sent by the encoder parsing module. Both the serial port sending module and the serial port receiving module are connected to the serial port transceiver circuit. The serial port sending module is used to encode the communication signal of the FPGA chip, so as to send the encoded communication signal to the host computer through the serial port transceiver circuit. The serial port receiving module is used to parse the serial port signal sent by the serial port transceiver circuit to obtain the fixed angle and the rotation speed, and send them to the angle prediction module. The angle prediction module predicts the angle of the turntable in the following way: When the current angle of the turntable is within the adjacent range, the counting of the number of the second pulse signals sent by the clock division module begins; Calculate the difference between the fixed angle and the current angle; Based on the number of the second pulse signals, the set time, and the rotation speed, the cumulative angle is calculated, and it is determined whether each cumulative angle is equal to the difference. When they are equal, a signal is sent to the pulse transmission module so that the pulse transmission module transmits the first pulse signal to the differential pulse transmission chip.

2. The apparatus according to claim 1, characterized in that, The FPGA chip predicts the angle of the turntable using the following formula: In the formula, The time required for the current angle to reach the fixed angle. For the fixed angle, From the current perspective, This refers to the rotational speed of the turntable.

3. The apparatus according to claim 1, characterized in that, The cumulative angle is calculated using the following formula: In the formula, The cumulative angle, The number of the second pulse signal. For the set time, This refers to the rotational speed of the turntable.

4. The apparatus according to claim 1, characterized in that, The upper limit of the adjacent interval is the fixed angle, and the lower limit of the adjacent interval is calculated using the following formula: In the formula, This is the lower limit of the adjacent interval. For the fixed angle, The rotational speed of the turntable. The sampling frequency of the encoder parsing module. These are the preset precision parameters.

5. The apparatus according to claim 4, characterized in that, The range of values ​​for the accuracy parameter is as follows: .

6. A position pulse generation system based on an absolute encoder, characterized in that, include: The host computer, the power supply, and the position pulse generator as described in any one of claims 1-5; The host computer is electrically connected to the position pulse generator and is used to communicate with the position pulse generator; The power supply is electrically connected to the position pulse generator and is used to provide power supply voltage to the position pulse generator.

7. A method for generating a position pulse based on the generating device according to any one of claims 1-5, characterized in that, Applied to an FPGA chip, the FPGA chip is mounted on a turntable carrying an optoelectronic device, and includes: A serial port transceiver circuit is used to convert the serial port signal sent from the host computer to a voltage to obtain a voltage-converted serial port signal; wherein, the serial port signal contains the fixed angle required by the optoelectronic device and the rotation speed of the turntable; Calculate the adjacent interval based on the fixed angle and the rotation speed; The encoder receiving circuit is used to perform voltage conversion on the angle signal acquired in real time by the absolute encoder to obtain the voltage-converted angle signal. The real-time angle of the turntable is obtained based on the angle signal after voltage conversion; When the current angle of the turntable reaches the adjacent range, the angle of the turntable is predicted based on the current angle, the fixed angle and the rotation speed, until the turntable is predicted to reach the fixed angle, at which point a first pulse signal is transmitted to the differential pulse transmitting chip, so as to use the differential pulse transmitting chip to emit a target pulse signal.

8. The position pulse generation method according to claim 7, characterized in that, The angle of the turntable is predicted using the following formula: In the formula, The time required for the current angle to reach the fixed angle. For the fixed angle, From the current perspective, This refers to the rotational speed of the turntable.

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