Degraded use of a fault mode absolute optical encoder

Abstract

The present application relates to photoelectric displacement precision measurement technical field, especially to a kind of failure mode absolute photoelectric encoder's degenerative use method, degenerative use method includes steps: S1, the angle difference of absolute photoelectric encoder continuous two times measurement is calculated, according to the size of angle difference, determine the position where fault is located, determine fault type;S2, according to fault type, respectively data processing is obtained measurement result;Fault type includes incremental and absolute;S3, measurement result is sent to superior system;The method of the present application is not changed on the basis of hardware design, make full use of original hardware design, respectively aiming at the light emission and reception fault of coarse code encoding ring and precision code encoding ring, degenerate into slightly lower precision absolute and incremental photoelectric encoder without zero search;By judging fault, switch into corresponding working mode, can greatly reduce volume and reduce hardware cost, ensure that absolute photoelectric encoder works normally online.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of photoelectric displacement precision measurement, in particular to a degradation use method of a fault mode absolute photoelectric encoder, a computer device capable of executing the method and a computer readable storage medium. BACKGROUND

[0002] The photoelectric encoder, also known as an optical angle position sensor, is a digital angle measuring device integrating light, machine and electricity. The absolute photoelectric encoder based on the Moire fringe technology can measure the angle at any time, and the measurement result is absolute position data, and has strong anti-interference ability and no data loss after power on or power off, and is widely used. Since the absolute photoelectric encoder needs the mutual cooperation of multiple groups of light-emitting diodes and receiving diodes to realize angle measurement, as long as one group of light-emitting or receiving diodes fails, the absolute photoelectric encoder will measure the angle incorrectly and lose the absolute angle measuring function.

[0003] At present, there are two main solutions. One is to set up a backup for the light-emitting and receiving diodes of the absolute photoelectric encoder, and use the backup when the main light-emitting and receiving diodes fail. However, this method requires enough volume to accommodate one more group of light-emitting and receiving diodes than the original, which increases the cost and weight. The second method is to set a zero position on the code disc track of the absolute photoelectric encoder. If the light-emitting and receiving diodes of the absolute photoelectric encoder fail, it will degenerate into an incremental photoelectric encoder. This method can only solve the problem of failure of the coarse code light-emitting and receiving, and the incremental encoder still cannot work when the fine code fails. In addition, a set of zero position encoder ring needs to be set on the code disc, which requires a new zero search and increases the volume of the code disc, resulting in low efficiency. SUMMARY

[0004] To solve the above problems, the present application provides a degradation use method of an absolute photoelectric encoder without changing the original hardware design of the absolute photoelectric encoder, to solve the problems of large volume, high cost, heavy weight and low efficiency of the existing method.

[0005] The present application provides a degradation use method of a fault mode absolute photoelectric encoder, which comprises the following steps:

[0006] S1, calculating the angle difference measured by the absolute photoelectric encoder for two consecutive times, judging the position of the fault according to the size of the angle difference, and determining the fault type;

[0007] S2, according to the fault type, respectively processing the data to obtain the measurement result; the fault type includes incremental and absolute;

[0008] If the fault type is incremental, first count from the first angle as the initial starting point, and then subdivide the fine code, and then combine the fine and coarse corrections to obtain the angular displacement of the degraded incremental optical encoder;

[0009] If the fault type is absolute, first select the fine code without fault as the fine code of the degraded absolute optical encoder, and combine the result after coarse code decoding to obtain the angle of the degraded absolute optical encoder.

[0010] S3, send the measurement result to the upper system.

[0011] Preferably, if the fault type is incremental, in the S3, the measurement result is sent to the upper system while reminding the upper system that the measurement result is the measurement result of the degraded incremental optical encoder.

[0012] Preferably, in the S1, the angles obtained by two consecutive measurements are Angle2 and Angle1 respectively, and the angle difference is ΔAngle.

[0013] In the S1, according to the size of the angle difference, the position of the fault is determined, including: the angle difference ΔAngle is as follows, greater than or equal to the minimum resolution of the coarse code, then the light emitting and receiving fault of the coarse code is determined,

[0014]

[0015] The absolute optical encoder provides N-bit binary angle, wherein the coarse code is high N1 bit, and the fine code is low N2 bit; N1, N2 and N are all positive integers greater than 0.

[0016] Preferably, if the light emitting and receiving fault of the coarse code is determined, the previous sampling value of the coarse code is used to degrade into an incremental optical encoder, and the fault type is incremental.

[0017] Preferably, in the S1, the angles obtained by two consecutive measurements are Angle2 and Angle1 respectively, and the angle difference is ΔAngle.

[0018] The angle difference ΔAngle is as follows, less than the quadrant subdivision angle value of the fine code, then it is determined that no fault occurs,

[0019]

[0020] The absolute optical encoder provides N-bit binary angle, wherein the coarse code is high N1 bit, and the fine code is low N2 bit; N1, N2 and N are all positive integers greater than 0.

[0021] N1+2 represents the subdivision of the angle to the quadrant position of the fine code.

[0022] Preferably, in the S1, the angles obtained by the two continuous measurements are Angle2 and Angle1 respectively, and the angle difference is ΔAngle;

[0023] The angle difference ΔAngle is shown in the following formula, less than the minimum resolution of the coarse code, and greater than or equal to the quadrant subdivision angle value of the fine code, then it is judged that the light emission and receiving of the fine code is faulty,

[0024]

[0025] The absolute optical encoder provides N-bit binary angle, wherein the coarse code is high N1 bit, and the fine code is low N2 bit; N1, N2 and N are all positive integers greater than 0; N1+2 represents the angle subdivision to the quadrant position of the fine code.

[0026] Preferably, if it is judged that the light emission and receiving of the fine code is faulty, the faulty fine code signal and the normal fine code signal are identified, the faulty fine code signal is discarded, and the normal fine code signal is retained; the normal fine code signal is combined with the coarse code to obtain the binary angle, and the absolute optical encoder is degraded for use, and the fault type is absolute.

[0027] Preferably, identifying the faulty fine code signal and the normal fine code signal comprises:

[0028] Two-way fine codes are combined with the coarse code respectively to obtain binary angles Angle' and Angle'', and two continuous angle differences ΔAngle' and ΔAngle'' are obtained respectively;

[0029] If The fine code is identified as the faulty fine code signal;

[0030] The absolute optical encoder provides N-bit binary angle, wherein the coarse code is high N1 bit, and the fine code is low N2 bit; N1, N2 and N are all positive integers greater than 0; N1+2 represents the angle subdivision to the quadrant position of the fine code.

[0031] The application also provides a computer device, comprising:

[0032] At least one processor; and

[0033] A memory in communication connection with the at least one processor; wherein,

[0034] The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the degradation use method of the fault mode optical encoder.

[0035] The application further provides a non-transient computer readable storage medium storing computer instructions for causing a computer to execute the degradation use method of the fault mode photoelectric encoder.

[0036] Compared with the prior art, the application can achieve the following beneficial effects:

[0037] At present, the main method for solving the angle measurement error of an absolute photoelectric encoder caused by the failure of emitting and receiving diodes is to use backup and degradation to incremental use; due to the increasing requirements for miniaturization of absolute photoelectric encoders, the volume and weight are often strictly limited, and therefore, backup and incremental zero position encoding rings are increasingly difficult to adapt. The application fully utilizes the original hardware design without changing the hardware design, and degrades to an absolute encoder with slightly lower precision and an incremental photoelectric encoder without zero searching for the emitting and receiving failure of the coarse code encoding ring and the fine code encoding ring.

[0038] The application fully utilizes the original design of the absolute photoelectric encoder, does not need to add any hardware, and does not need to change the code disc design. When the absolute photoelectric encoder fails due to emitting and receiving, the failure is judged, and the corresponding working mode is changed. Such a design can greatly reduce the volume and hardware cost. Directly through switching the working mode, the absolute photoelectric encoder can be ensured to work normally online, especially in working conditions that cannot be directly maintained and repaired, such as satellites and industrial sites. BRIEF DESCRIPTION OF DRAWINGS

[0039] Figure 1 is a general circuit design schematic diagram of an absolute photoelectric encoder in the embodiment of the application;

[0040] Figure 2 is an angle measurement curve diagram of an absolute photoelectric encoder rotating one revolution in the case of coarse code emitting and receiving failure in the embodiment of the application;

[0041] Figure 3 is an angle measurement curve diagram of an absolute photoelectric encoder rotating one revolution in the case of normal condition in the embodiment of the application;

[0042] Figure 4 is a flowchart of the degradation use method of the fault mode absolute photoelectric encoder in the embodiment of the application;

[0043] Figure 5 is a block diagram of an exemplary computer device suitable for implementing the embodiment of the application. DETAILED DESCRIPTION

[0044] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and do not constitute a limitation on the present application.

[0045] As shown in Figure 4 FIG. 1 is a flowchart of a degradation use method of a fault mode absolute optical encoder in the specific embodiment of the present application. As can be seen from the figure, the degradation use method of the present application comprises the following steps. In the first step, the angle difference ΔAngle of two consecutive measurements is calculated, and the position of the fault is judged according to the size of the angle difference. In the second step, the data is processed according to the incremental and absolute types respectively according to the type of the fault. The angle displacement of the degraded incremental optical encoder is obtained by combining the fine code subdivision and the fine and coarse correction after the incremental counting is completed with Angle1 as the initial starting point of counting. The angle of the degraded absolute optical encoder is obtained by combining the result of the coarse code decoding with the fine code which is selected as the degraded absolute fine code and which does not appear fault. In the third step, the processed data and the identification are sent to the upper system at the same time, such as the measurement result and the identification of the degraded incremental optical encoder, which provides the angle data and reminds the upper system that the data is the measurement result of the degraded incremental optical encoder.

[0046] In the specific embodiment of the present application, a degradation use method of a fault mode absolute optical encoder is provided, which comprises the following steps:

[0047] S1, calculating the angle difference of two consecutive measurements of the absolute optical encoder, judging the position of the fault according to the size of the angle difference, and determining the type of the fault;

[0048] In the specific embodiment, the angles obtained by the absolute optical encoder in two consecutive measurements are Angle2 and Angle1 respectively, and the angle difference is ΔAngle.

[0049] If the angle difference ΔAngle is greater than or equal to the minimum resolution of the coarse code as shown in the following formula (1), it is judged that the light emission and reception of the coarse code are faulty,

[0050]

[0051] If it is judged that the light emission and reception of the coarse code are faulty, the degraded incremental optical encoder is used according to the sampling value of the previous coarse code, and the type of the fault is incremental.

[0052] In a specific embodiment, if the angle difference ΔAngle is less than the minimum resolution of the coarse code and greater than or equal to the quadrant subdivision angle value of the fine code, as shown in the following formula (2), it is determined that the light emission and reception of the fine code is faulty,

[0053]

[0054] If it is determined that the light emission and reception of the fine code is faulty, the faulty fine code signal and the normal fine code signal are identified, the faulty fine code signal is discarded, and the normal fine code signal is retained; the normal fine code signal is combined with the coarse code to obtain a binary angle, which is degraded into an absolute optical encoder for use, and the fault type is absolute. In a specific embodiment, the process of identifying which one of the fine codes is the faulty fine code signal and which one of the fine codes is the normal fine code signal includes:

[0055] The two fine codes are combined with the coarse code respectively to obtain binary angles Angle' and Angle'', and the angle differences ΔAngle' and ΔAngle'' of two consecutive times are obtained respectively;

[0056] If the fine code is identified as the faulty fine code signal;

[0057] In a specific embodiment, if the angle difference ΔAngle is less than the quadrant subdivision angle value of the fine code, as shown in the following formula (3), it is determined that no fault has occurred,

[0058]

[0059] The absolute optical encoder provides an N-bit binary angle, wherein the coarse code is high N1 bits, and the fine code is low N2 bits; N1, N2 and N are positive integers greater than 0; N1+2 represents the subdivision of the angle to the quadrant position of the fine code, and is also the highest two bits of the fine code.

[0060] S2, according to the fault type, respectively perform data processing to obtain a measurement result; the fault type includes incremental and absolute;

[0061] If the fault type is incremental, first, count with the first angle as the initial starting point of counting, and then perform subdivision with the fine code, and then perform fine-coarse correction combination to obtain an angular displacement of the degraded incremental optical encoder;

[0062] If the fault type is absolute, first, select the fine code that has not appeared fault as the fine code of the degraded absolute optical encoder, and combine the result after decoding with the coarse code to obtain an angle of the degraded absolute optical encoder;

[0063] S3. Send the measurement results to the upper-level system. Specifically, report the processed data and identifiers to the upper-level system simultaneously. The processed data mainly refers to the angle or angular displacement corresponding to the measurement results, and the identifiers mainly indicate whether the measurement has degenerated into incremental or absolute type. If the fault type is incremental, in S3, while sending the measurement results to the upper-level system, remind the upper-level system that the measurement results have degenerated into incremental photoelectric encoder measurement results.

[0064] In specific implementation methods, such as Figure 1 The diagram shows the overall circuit design of the absolute photoelectric encoder of this invention. As can be seen, the coarse code track typically has 12 sets of light-emitting and receiving diodes, while the fine code track, to improve measurement accuracy, has 8 sets of light-emitting and receiving diodes, with 4 sets at each of the diameter positions. The light emitted by the light-emitting diodes passes through the code disk and slits, and a photocurrent signal is obtained at the receiving diode. This signal is then converted into a voltage signal by a digital potentiometer or resistor, resulting in 12 coarse code (square wave) channels and 8 fine code (moiré fringes, i.e., sine and cosine signals). The fine code consists of four phase signals: sin+, sin-, cos+, and cos-. To further improve measurement accuracy, four sets of fine code light-emitting and receiving diodes are used at each diameter position, also yielding four phase signals: sin′+, sin′-, cos′+, and cos′-.

[0065] The coarse and fine code signals are acquired by an ADC and input to a microprocessor (ARM, DSP, or FPGA). The coarse code is decoded, converting the matrix code on the code disk into natural binary code. The fine code undergoes further subdivision and diameter data fusion. Finally, the fine and coarse codes are calibrated to obtain the binary angle, which is then sent to the upper-level system according to the communication protocol. If even one of the 20 pairs of light-emitting and receiving signals fails, the absolute photoelectric encoder will measure an incorrect angle and lose its angle measurement function. Figure 1 In addition to sending the precise code to the ADC, it is also necessary to send it to the comparator interrupt, which lays the foundation for its subsequent degradation into an incremental photoelectric encoder.

[0066] like Figure 2 and Figure 3 The figures show the angle measurement curves of one rotation of an absolute photoelectric encoder under different conditions: one with a coarse code emission and another with a reception failure, and the other under normal conditions. A comparison of the two figures shows that a significant jump in the angle curve occurs when the coarse code emission or reception fails. The absolute photoelectric encoder of this invention is designed to provide N-bit binary angles, where the coarse code is represented by the high N1 bits and the fine code by the low N2 bits. N1, N2, and N satisfy the following formula:

[0067] N = N1 + N2 (4);

[0068] Wherein, N1, N2 and N are positive integers greater than 0. Wherein, the angle resolution of the coarse code is: 360° / N1, thus, if the difference ΔAngle of the angle Angle2 and Angle1 of two continuous times is greater than or equal to the minimum resolution of the coarse code, it is judged that the light emitting and receiving failure of the coarse code causes. Namely, as shown in the following formula:

[0069]

[0070] The fine code is subdivided to N2 bits, and then combined with the N1 bit coarse code to obtain the N bit angle binary value. Wherein, the high two bits of the N2 bits are the quadrant subdivision of the fine code, the remaining N2-2 bits are the fine code data subdivision, and N1+2 represents the angle subdivision to the quadrant position of the fine code; thus, the angle difference ΔAngle of two continuous times cannot exceed the quadrant subdivision angle value of the fine code, and the angle measurement is correct, namely, as shown in the following formula:

[0071]

[0072] If the angle difference ΔAngle is less than the minimum resolution of the coarse code and greater than or equal to the quadrant subdivision angle value of the fine code, as shown in the following formula (2), it is judged that the light emitting and receiving diodes of the fine code have failed,

[0073]

[0074] If the coarse code fails, the sampling value of the previous coarse code is used, and the absolute optical encoder is degraded to be used as an incremental optical encoder, namely, the high N1 bits of Angle1 are used as the initial value of the incremental optical encoder, and the zero search operation is not needed. Then, the fine code is shaped and counted and subdivided according to the processing method of the incremental fault, to ensure the correctness of the output angle.

[0075] If the fine code fails, firstly, it is judged which fine code signal fails, then the fine code signal of the failure is discarded, the normal fine code signal is kept, the fine code and the coarse code are combined to obtain the binary angle, namely, the absolute optical encoder is degraded to be the absolute optical encoder with slightly lower precision. The method for judging the fine code failure is as follows: two fine codes are combined with the coarse code to obtain the binary angle Angle' and Angle'', and the angle difference ΔAngle' and ΔAngle'' of two continuous times are obtained. Thus, if the fine code of this path fails and needs to be discarded, and the other fine code is used; vice versa.

[0076] Correspondingly, according to the embodiments of the present application, the present application also provides a computer device, a readable storage medium and a computer program product.

[0077] Figure 5A structural schematic of a computer device 12 is provided in the detailed description of the application. Figure 5 A block diagram of an exemplary computer device 12 suitable for implementing the detailed description of the application is shown. Figure 5 The computer device 12 shown is only one example of a suitable computer device and should not be taken as limiting the scope of functionality or use of the detailed description of the application.

[0078] As shown Figure 5 The computer device 12 is shown in the form of a general-purpose computer device. The computer device 12 is intended to represent various forms of digital computers, such as laptops, desktops, tablets, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device can also represent various forms of mobile devices, such as personal digital assistants, cellular telephones, smartphones, wearable devices, and other similar computing devices. The components shown here, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit the implementations of the applications described and / or claimed in this document.

[0079] The components of the computer device 12 can include, but are not limited to, one or more processors or processing units 16, a system memory 28, and a bus 18 that couples various system components including the system memory 28 to the processing unit 16.

[0080] The bus 18 represents one or more of any of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, and a local bus using any of a variety of bus architectures. By way of example, these architectures include Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MAC) bus, Enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.

[0081] The computer device 12 typically includes a variety of computer system readable media. Such media can be any available media that is located either internally or externally to the computer device 12, including both volatile and nonvolatile media, removable and non-removable media.

[0082] The system memory 28 can include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory 32. The computer device 12 can further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, a storage system 34 can be provided for reading from and writing to non-removable, non-volatile magnetic media (e.g., a "hard drive"). Figure 5 not shown, is typically provided as residual storage across the system 12, and can be used for some short-term caching of data. Although the storage system 34 is shown as a single component, the storage system 34 can be a combination of storage components, including devices of different types. Figure 5Not shown, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk") and an optical disk drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 via one or more data media interfaces. Memory 28 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of the embodiments of the present invention.

[0083] A program / utility 40 having a set (at least one) of program modules 42 may be stored, for example, in memory 28. Such program modules 42 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include an implementation of a network environment. Program modules 42 typically perform the functions and / or methods described in the embodiments of the present invention.

[0084] Computer device 12 can also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), and with one or more devices that enable a user to interact with the computer device 12, and / or with any device that enables the computer device 12 to communicate with one or more other computing devices (e.g., network card, modem, etc.). This communication can be performed via input / output (I / O) interface 22. Furthermore, computer device 12 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 20.

[0085] like Figure 5 As shown, network adapter 20 communicates with other modules of computer device 12 via bus 18. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with computer device 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0086] The processing unit 16 executes various functional applications and data processing by running programs stored in the system memory 28, such as implementing the degradation method of the fault mode absolute photoelectric encoder provided in the specific embodiments of the present invention.

[0087] In a specific embodiment of the present invention, a non-transient computer-readable storage medium storing computer instructions is also provided, on which a computer program is stored, wherein when the program is executed by a processor, a method for degrading use of a fault-mode absolute photoelectric encoder provided in the specific embodiment of the present invention is provided.

[0088] The computer storage media of the present embodiments can employ any combination of one or more computer readable medium or media. The computer readable medium can be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium can be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

[0089] A computer readable signal medium can include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated signal can take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium can be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

[0090] Program code embodied on a computer readable medium can be transmitted using any appropriate medium, including but not limited to wireless, wire line, optical fiber cable, RF, etc., or any suitable combination of the foregoing. Computer program code for carrying out operations for aspects of the present application can be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider). These implementations of the present embodiments are described in

[0091] The present embodiments also provide a computer program product, comprising a computer program which, when executed by a processor, implements the method for using a degraded fault mode absolute optical encoder according to the above.

[0092] It should be understood that the various forms of flow shown above can be used to reorder, add, or remove steps. For example, the steps recited in the present disclosure can be performed in parallel, in series, or in a different order, as long as the desired results of the present disclosure are achieved, which is not limited herein.

[0093] The specific implementation described above does not constitute a limitation on the protection scope of the present application. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A method for degrading the use of a fault-mode absolute photoelectric encoder, characterized in that, The degradation method includes the following steps: S1. Calculate the angle difference between two consecutive measurements of the absolute photoelectric encoder, and determine the location of the fault and the type of fault based on the magnitude of the angle difference; In S1, the angles obtained from the two consecutive measurements are respectively and The angle difference is ; Determining the location of the fault based on the magnitude of the angle difference includes: The angle difference As shown in the formula below, if the value is greater than or equal to the minimum resolution of the coarse code, it is determined to be a problem with the emission and reception of the coarse code. ； The absolute photoelectric encoder provides an N-bit binary angle, where the coarse code is the high N1 bits and the fine code is the low N2 bits; N1, N2 and N are all positive integers greater than 0. If the fault is determined to be a coarse code emission and reception failure, the encoder will be degraded to an incremental photoelectric encoder based on the sampling value of the previous coarse code. The fault type is incremental. The angle difference As shown in the formula below, if the value is less than the minimum resolution of the coarse code but greater than or equal to the quadrant subdivision angle value of the fine code, then it is determined to be a problem with the emission and reception of the fine code. ； The absolute photoelectric encoder provides an N-bit binary angle, where the coarse code is the high N1 bits and the fine code is the low N2 bits; N1, N2 and N are all positive integers greater than 0. If the problem is determined to be a fault in the emission and reception of the precision code, the faulty precision code signal and the normal precision code signal are identified. The faulty precision code signal is discarded, and the normal precision code signal is retained. The normal precision code signal is combined with the coarse code to obtain the binary angle, which is then degraded to an absolute photoelectric encoder for use. The fault type is absolute. S2. Based on the fault type, perform data processing to obtain measurement results; the fault types include incremental and absolute types; If the fault type is incremental, first count the first angle as the initial starting point, then subdivide the code, and then combine fine and coarse corrections to obtain the angular displacement that degenerates into an incremental photoelectric encoder. If the fault type is absolute, first select the fine code that has not experienced a fault as the fine code of the degraded absolute photoelectric encoder, and combine it with the result after decoding the coarse code to obtain the angle degraded into an absolute photoelectric encoder. S3. Send the measurement results to the upper-level system.

2. The degradation method of the fault-mode absolute photoelectric encoder as described in claim 1, characterized in that, If the fault type is incremental, in step S3, while sending the measurement result to the upper-level system, the upper-level system is reminded that the measurement result has degenerated into the measurement result of an incremental photoelectric encoder.

3. The degradation method of the fault-mode absolute photoelectric encoder as described in claim 1, characterized in that, The angle difference As shown in the formula below, if the value is less than the quadrant subdivision angle of the precision code, it is determined that no fault has occurred. ； The absolute photoelectric encoder provides an N-bit binary angle, where the coarse code is the high N1 bits and the fine code is the low N2 bits; N1, N2 and N are all positive integers greater than 0. N1+2 represents the quadrant position of the angle subdivision to the precise code.

4. The degradation method of the fault-mode absolute photoelectric encoder as described in claim 1, characterized in that, The faulty and normal precision code signals include: The two fine codes are combined with the coarse code respectively to obtain the binary angle. and The angle difference was obtained in two consecutive tests. and ; if If so, this path of fine code is identified as a faulty fine code signal; The absolute photoelectric encoder provides an N-bit binary angle, where the coarse code is the high N1 bits and the fine code is the low N2 bits; N1, N2 and N are all positive integers greater than 0. N1+2 represents the quadrant position of the angle subdivision to the precise code.

5. A computer device, characterized in that, include: At least one processor; as well as A memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable by the at least one processor, which, when executed by the at least one processor, enables the at least one processor to perform the degradation usage method of the fault-mode absolute photoelectric encoder according to any one of claims 1 to 4.

6. A non-transitory computer-readable storage medium storing computer instructions, characterized in that, The computer instructions are used to cause the computer to execute the degradation method of the fault-mode absolute photoelectric encoder according to any one of claims 1 to 4.

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