Intelligent outdoor floodlighting device

Abstract

The invention relates to the technical field of outdoor lighting, and discloses an intelligent outdoor floodlighting device, and an anti-vibration angle measuring system comprises a gradient grating coding disc, a suspension sensor assembly and an air gap adjusting mechanism. The gradient grating coding disc is provided with a plurality of grating tracks with different line widths, the suspension sensor assembly can slide in the radial direction through the linear guide mechanism, and the air gap distance between the sensor and the coding disc is dynamically adjusted through the air gap adjusting mechanism. The sensor synchronously moves along with the vibration displacement of the coding disc through an active position compensation mechanism, a matched grating track is selected according to a vibration environment in combination with a passive parameter adaptation mechanism, a double-layer collaborative anti-vibration mechanism is formed, and the technical problem of angle measurement errors caused by vibration error codes of the encoder in a strong vibration environment is solved.

Description

Technical Field

[0001] This invention relates to the field of outdoor lighting technology, and more specifically, to an intelligent outdoor floodlighting device. Background Technology

[0002] Outdoor floodlighting systems are widely used in ports, overpasses, industrial parks, and other locations. Their dual-axis adjustment mechanism uses a servo motor to drive the luminaire, enabling horizontal rotation and vertical tilt. An angle sensor monitors the rotation angle in real time and feeds it back to the control system, forming a closed-loop control system to ensure precise positioning of the illumination direction.

[0003] In existing technologies, angle sensors typically employ rotary encoders, which include a grating disk fixed to the output shaft of a servo motor and a photoelectric sensor fixed to the encoder housing. The grating disk has annular grating tracks etched on its surface, formed by alternating transparent and opaque stripes. When the grating disk rotates, the periodic changes in light intensity detected by the photoelectric sensor generate pulse signals, and the controller calculates the rotation angle by counting these pulses.

[0004] However, in high-vibration environments such as ports and viaducts, the vibration acceleration generated when vehicles pass over bridges can reach 0.3-0.8g, and the vibration acceleration generated when port cranes operate can reach 0.5-1.2g. The vibration acceleration transmitted to the servo motor and encoder can reach 1-2g. Vibration causes the encoder housing and input shaft to vibrate asynchronously, resulting in relative vibration jitter between the grating disk and the photoelectric sensor, with a jitter amplitude of 5-15μm. Traditional encoders have a fixed grating linewidth of 25μm. When the jitter amplitude approaches 20-60% of the grating linewidth, the sensor detection point fluctuates rapidly near the grating line boundary, and the light intensity signal repeatedly crosses the threshold level, generating pulse edge jitter and glitch, causing counting errors. The corresponding angle measurement error can reach ±0.1-0.4°. The accumulated error causes the feedback angle of the closed-loop control system to deviate from the actual angle, affecting positioning accuracy. The root cause of this technical problem is that the fixed relative position between the sensor and the grating disk is disrupted during vibration, resulting in large relative displacement jitter, and the fixed grating linewidth cannot adapt to different vibration environments. Summary of the Invention

[0005] This invention provides an intelligent outdoor floodlighting device that solves the technical problem of angle measurement error caused by encoder vibration errors under strong vibration environment in related technologies.

[0006] This invention discloses an intelligent outdoor floodlighting device, including a lamp body assembly, a quick-release base, a single-axis servo adjustment mechanism, and a vibration-resistant angle measurement system. The vibration-resistant angle measurement system is mounted on the output shaft of the servo motor of the single-axis servo adjustment mechanism. The vibration-resistant angle measurement system includes a gradient grating encoder disk, a suspension sensor assembly, and an air gap adjustment mechanism. The gradient grating encoder disk is fixed on the output shaft of the servo motor. The gradient grating encoder disk is a circular disk with multiple sets of concentric circular grating tracks engraved on its surface. Each grating track is formed by alternating high-reflection stripes and low-reflection stripes, and the stripe line widths of different grating tracks are different. The suspension sensor assembly includes a photoelectric sensor and a suspension bracket. The photoelectric sensor is fixed on the suspension bracket, which is connected to the encoder housing through a linear guide mechanism. The linear guide mechanism guides in a radial direction, allowing the suspension bracket to slide radially. The air gap adjustment mechanism is located between the suspension bracket and the gradient grating encoder disk. The air gap adjustment mechanism includes an air gap detection device and a driving device. The air gap detection device measures the air gap distance between the suspension bracket and the surface of the gradient grating encoder disk, and the driving device adjusts the radial position of the suspension bracket according to the air gap distance to maintain the air gap distance at a set value.

[0007] Furthermore, the gradient grating encoder disk is fixed to the output shaft of the servo motor via a key connection.

[0008] Furthermore, the linear guide mechanism includes a guide frame, a guide shaft, and a linear bearing. The guide frame is fixed on the encoder housing, the guide shaft is arranged radially and fixed in the mounting hole of the guide frame, and the linear bearing is mounted on the suspension bracket and sleeved on the guide shaft.

[0009] Furthermore, the gradient grating encoder disk includes three sets of concentric circular grating tracks, which are, from the inside out, a precision track, a standard track, and a coarse vibration-resistant track. The linewidth of the precision track is 15μm, the linewidth of the standard track is 30μm, and the linewidth of the coarse vibration-resistant track is 60μm.

[0010] Furthermore, the suspension sensor assembly includes multiple photoelectric sensors and multiple suspension brackets. The multiple photoelectric sensors are respectively fixed on the multiple suspension brackets, and the multiple suspension brackets correspond to multiple sets of grating tracks of the gradient grating encoder disk.

[0011] Furthermore, the air gap detection device is an eddy current displacement sensor, which is fixed on the suspension support. The eddy current displacement sensor measures the air gap distance between the suspension support and the surface of the grating track in a non-contact manner.

[0012] Furthermore, the driving device is a voice coil motor, with the stator of the voice coil motor fixed on the guide frame and the mover of the voice coil motor fixed on the suspension bracket.

[0013] Furthermore, the air gap adjustment mechanism includes a control circuit. The control circuit receives the air gap distance signal measured by the eddy current displacement sensor, compares it with the set target air gap value to calculate the deviation, and drives the voice coil motor to adjust the position of the suspension support according to the deviation signal.

[0014] Furthermore, the vibration angle measurement system includes a vibration detection device, which is mounted on the encoder housing. The vibration detection device acquires vibration acceleration signals in real time, estimates the relative displacement jitter amplitude between the gradient grating encoder disk and the sensor, and outputs a vibration level signal.

[0015] Furthermore, the vibration angle measurement system includes a channel selection device, which selects the corresponding grating track on the gradient grating encoder disk as the working channel based on the vibration level signal output by the vibration detection device.

[0016] Furthermore, the vibration angle measurement system includes a limit protection device, which is installed on both sides of the suspension support and limits the suspension travel of the suspension support.

[0017] This invention employs a dual-layer collaborative vibration resistance mechanism of active position compensation and passive parameter adaptation, which solves the technical problem of angle measurement error caused by encoder vibration errors under strong vibration environment.

[0018] The first layer, active position compensation, uses an air gap adjustment mechanism to enable the photoelectric sensor to actively follow the vibration displacement of the gradient grating encoder disk, dynamically maintaining a constant air gap. Within the bandwidth of the control system, it compensates for relative displacement caused by vibration, ensuring a stable relative position between the sensor and the grating lines. The second layer, passive parameter adaptation, uses the gradient grating to adaptively select the grating linewidth based on the vibration environment. For residual vibrations that the control system cannot fully compensate for, the matched grating linewidth keeps the proportion of residual jitter within a safe range, ensuring stable pulse signal quality. These two mechanisms are coordinated through a channel selection device, synchronously adjusting the grating track selection and control system parameters to ensure both mechanisms always operate in an optimal coordinated state.

[0019] Active air gap compensation reduces the vibration transmissibility within the control bandwidth to 0.1-0.2, and the residual vibration amplitude is reduced to 10-20% of the original vibration. The adaptive linewidth of the gradient grating keeps the proportion of residual vibration to the linewidth below a safe threshold, ensuring stable pulse edges. The combined effect of these two mechanisms significantly improves overall vibration resistance, eliminating the root cause of encoder errors caused by relative vibration. Simultaneously, parameter adaptation maintains a balance between accuracy and reliability under various vibration environments, enabling accurate angle measurement even in strong vibration conditions. This allows intelligent outdoor floodlighting devices to maintain precise illumination direction control in complex vibration environments such as ports and overpasses. Attached Figure Description

[0020] Figure 1 A schematic diagram of the structure of an intelligent outdoor floodlighting device Figure 1 ; Figure 2 A schematic diagram of the structure of an intelligent outdoor floodlighting device Figure 2 ; Figure 3 yes Figure 2 A magnified view of a portion of the image; Figure 4 A schematic diagram of the structure of an intelligent outdoor floodlighting device Figure 3 ; Figure 5 yes Figure 4 A magnified view of a portion of the image; Figure 6 This is a schematic diagram of the gradient grating encoder disk; Detailed Implementation

[0021] Outdoor floodlighting devices are widely used in ports, overpasses, industrial parks, and other locations. Their dual-axis adjustment mechanism uses a servo motor to drive the lamps, achieving horizontal rotation and vertical tilt. An angle sensor monitors the rotation angle in real time and feeds it back to the control system, forming a closed-loop control to ensure precise positioning of the illumination direction. The angle sensor typically uses a rotary encoder 2. The encoder 2 includes a grating disk fixed to the output shaft of the servo motor and a photoelectric sensor fixed to the encoder 2 housing. The grating disk is a circular disc with annular grating tracks etched on its surface. The grating tracks are formed by alternating transparent and opaque stripes. The photoelectric sensor includes a light-emitting diode 6 and a photodetector 5, located on opposite sides of the grating disk. Light emitted from the light-emitting diode 6 passes through the grating disk and reaches the photodetector 5. When the grating disk rotates, the photoelectric sensor detects periodic changes in light intensity, generating pulse signals. The controller calculates the rotation angle by counting the pulses.

[0022] In environments with strong vibrations, such as ports and viaducts, the vibration acceleration generated when vehicles pass over bridges can reach 0.3-0.8g at a frequency of 10-50Hz. The vibration acceleration generated when port cranes operate can reach 0.5-1.2g at a frequency of 20-80Hz. The resonance amplification effect of light poles and lamps can transmit vibration accelerations of 1-2g to the servo motor and encoder 2. Vibration causes the encoder 2 housing and input shaft to vibrate incompletely synchronously, resulting in relative vibration jitter between the grating disk and the photoelectric sensor, with a jitter amplitude of 5-15μm. The grating linewidth of a traditional encoder 2 is fixed at 25μm, and a fixed working air gap of 0.1-0.3mm is maintained between the sensor and the grating disk. When the jitter amplitude approaches 20-60% of the grating linewidth, the sensor detection point fluctuates rapidly near the grating line boundary, and the light intensity signal repeatedly crosses the threshold level, generating pulse edge jitter and glitch, causing a counting error of ±3-10 pulses, corresponding to an angle measurement error of ±0.1-0.4°. The accumulated error causes the feedback angle of the closed-loop control system to deviate from the actual angle, affecting the positioning accuracy.

[0023] The root cause of this technical problem is that, on the one hand, the fixed relative position between the sensor and the grating disk is disrupted during vibration, resulting in large relative displacement jitter; on the other hand, the fixed grating linewidth cannot adapt to different vibration environments, and the vibration resistance of a single linewidth is insufficient when the jitter amplitude is large. The combination of these two factors leads to a serious deterioration in the quality of the pulse signal.

[0024] According to an embodiment of this invention, a vibration-resistant angle measurement system for an intelligent outdoor floodlighting device is provided. This vibration-resistant angle measurement system is applied to the single-axis servo adjustment mechanism of the luminaire. The overall device includes a luminaire body assembly, a quick-release base, a single-axis servo adjustment mechanism, and the vibration-resistant angle measurement system.

[0025] The lamp body assembly 1 consists of a high-power LED light source module, an aluminum alloy heat sink, a protective lens, and a lamp body housing, and is mounted on the base via a single-axis adjustment mechanism. The quick-release base is made of 304 stainless steel and is fixed to the lamp post using three-point expansion bolts. The top of the base features three evenly distributed 120° positioning slots and an electrical connector, providing mechanical support and a power supply interface for the lamp body 1. The single-axis servo adjustment mechanism includes a vertical pitch servo motor, which drives the lamp body 1 via a worm gear reducer 3 to achieve vertical pitch adjustment from -90° to +90°.

[0026] The vibration angle measurement system is mounted on the output shaft of the vertical pitch servo motor. The vibration angle measurement system includes a gradient grating encoder disk 7, a suspension sensor assembly, and an air gap adjustment mechanism.

[0027] The gradient grating encoder disk 7 is fixed on the output shaft of the servo motor. The gradient grating encoder disk 7 is a circular disk with multiple sets of concentric circular grating tracks engraved on the disk surface. Each grating track is formed by alternating high-reflection stripes and low-reflection stripes. The stripe line widths of different grating tracks are different, and each grating track is arranged in sequence in the radial direction.

[0028] Furthermore, the gradient grating encoder disk 7 is fixed to the output shaft of the servo motor by a key connection, which ensures that the gradient grating encoder disk 7 rotates synchronously with the output shaft and is accurately positioned radially.

[0029] The suspension sensor assembly includes a photoelectric sensor and a suspension bracket 4. The photoelectric sensor includes a light-emitting diode (LED) 6 and a photodetector 5. The LED 6 and the photodetector 5 are arranged side by side on the same side of a gradient grating encoder disk 7. The surface of the gradient grating encoder disk 7 is coated with a reflective layer. The light emitted by the LED 6 is reflected by the surface of the gradient grating encoder disk 7 and then received by the photodetector 5. The photoelectric sensor is fixed to the suspension bracket 4 by a sensor mounting seat bolt. The suspension bracket 4 is connected to the encoder 2 housing through a linear guide mechanism. The linear guide mechanism guides in a radial direction, and the suspension bracket 4 can slide radially relative to the encoder 2 housing.

[0030] Furthermore, the linear guide mechanism includes a guide frame, a guide shaft, and a linear bearing. The guide frame is fixed to the encoder 2 housing by bolts. The guide shaft is arranged radially and fixed in the mounting hole of the guide frame by a clamping nut. The linear bearing is mounted on the suspension bracket 4 and sleeved on the guide shaft. The linear bearing constrains the suspension bracket 4 to slide only along the axial direction of the guide shaft, i.e., radially, thus limiting the displacement of the suspension bracket 4 in the circumferential and axial directions.

[0031] An air gap adjustment mechanism is set between the suspension bracket 4 and the gradient grating encoder disk 7. The air gap adjustment mechanism includes an air gap detection device and a drive device. The air gap detection device is installed on the suspension bracket 4 and measures the air gap distance between the suspension bracket 4 and the surface of the gradient grating encoder disk 7. The power output end of the drive device is connected to the suspension bracket 4. The drive device adjusts the radial position of the suspension bracket 4 according to the air gap distance measured by the air gap detection device so that the air gap distance is maintained at the set value.

[0032] The working principle of the vibration-resistant angle measurement system is as follows: The gradient grating encoder disk 7 rotates with the output shaft of the servo motor. The photoelectric sensor detects the change in light intensity passing through the grating track and generates a pulse signal. The controller counts the pulses to obtain the rotation angle. When vibration causes the gradient grating encoder disk 7 to produce radial displacement relative to the encoder 2 housing, the air gap detection device detects the change in air gap distance. The drive device adjusts the position of the suspension bracket 4, so that the photoelectric sensor moves synchronously with the vibration displacement of the gradient grating encoder disk 7, dynamically maintaining a constant air gap, reducing the relative vibration jitter between the sensor and the gradient grating encoder disk 7, and stabilizing the pulse signal quality. At the same time, multiple sets of tracks with different linewidths of the gradient grating can select the appropriate track to work according to the vibration environment, achieving an adaptive balance between vibration resistance and measurement accuracy.

[0033] In some embodiments, the gradient grating encoder disk 7 includes three sets of concentric circular grating tracks, arranged from the inside out as a precision track, a standard track, and a coarse vibration-damping track. The precision track has a linewidth of 15 μm and a spacing of 15 μm, generating 6000 pulses per revolution. The standard track has a linewidth of 30 μm and a spacing of 30 μm, generating 3000 pulses per revolution. The coarse vibration-damping track has a linewidth of 60 μm and a spacing of 60 μm, generating 1500 pulses per revolution. The radial spacing between the three tracks is 8-12 mm. The three sets of concentric circular grating tracks provide three measurement channels with different accuracy levels: the precision track is suitable for low-vibration environments to achieve high resolution, the coarse vibration-damping track is suitable for strong-vibration environments to ensure reliability, and the standard track provides a moderate performance balance.

[0034] In some embodiments, the suspension sensor assembly includes multiple photoelectric sensors and multiple suspension brackets 4. The multiple photoelectric sensors are respectively fixed on the multiple suspension brackets 4, and the multiple suspension brackets 4 correspond to multiple sets of grating tracks on the gradient grating encoder disk 7. Each suspension bracket 4 can slide independently in the radial direction. The linear guide mechanism includes a guide frame and multiple guide shafts. The guide frame is fixed to the encoder 2 housing by bolts. The multiple guide shafts are respectively arranged radially and fixed in the mounting holes of the guide frame by clamping nuts. Each suspension bracket 4 is equipped with a linear bearing and sleeved on the corresponding guide shaft. The linear bearing constrains each suspension bracket 4 to slide only in the axial direction, i.e., radially, along its respective guide shaft. The combined structure of the multiple suspension brackets 4 and the linear guide mechanism allows multiple sensors to be independently adjusted in position, each aligned with a different grating track, and the air gap adjustment of each sensor does not interfere with each other.

[0035] In some embodiments, the air gap detection device is an eddy current displacement sensor. The eddy current displacement sensor is fixed to the suspension bracket 4 by a mounting bracket, which is bolted to the suspension bracket 4. The eddy current displacement sensor measures the air gap distance between the suspension bracket 4 and the surface of the grating track in a non-contact manner, with a measurement accuracy of ±1μm and a sampling frequency of 5kHz. The eddy current displacement sensor measures distance by detecting the eddy current effect on the metal surface, and features high accuracy and high frequency response, enabling real-time tracking of air gap changes caused by vibration.

[0036] In some embodiments, the driving device is a voice coil motor 8. The stator of the voice coil motor 8 is fixed to the guide frame by mounting bolts, and the mover of the voice coil motor 8 is fixed to the suspension bracket 4 by a connecting plate. The connecting plate and the mover are threaded together, and the connecting plate and the suspension bracket 4 are fixedly connected by bolts. The voice coil motor 8 adjusts the radial position of the suspension bracket 4 according to the deviation between the air gap distance measured by the eddy current displacement sensor and the set value. The voice coil motor 8 is a linear voice coil motor 8, which has the characteristics of fast response, short stroke, and no backlash. It is suitable for small-amplitude, high-frequency position adjustment and can effectively follow rapid displacement changes caused by vibration.

[0037] Furthermore, the air gap adjustment mechanism includes a control circuit. The control circuit receives the air gap distance signal measured by the eddy current displacement sensor, compares it with the set target air gap value to calculate the deviation, and drives the voice coil motor 8 to adjust the position of the suspension support 4 based on the deviation signal, forming a closed-loop control with a constant air gap. The target air gap value differs for different grating tracks: 0.15mm for precision tracks, 0.20mm for standard tracks, and 0.25mm for coarse vibration-resistant tracks. The control circuit employs a proportional-integral-derivative control algorithm, adjusting the control bandwidth according to the vibration environment. High bandwidth control parameters are used for low vibration to achieve high precision, while stability-priority control parameters are used for high vibration to avoid control oscillations.

[0038] Furthermore, the vibration angle measurement system includes a vibration detection device, which is bolted to the encoder 2 housing. The vibration detection device acquires vibration acceleration signals in real time, performs spectrum analysis and displacement integration calculation through a digital signal processor, estimates the relative displacement jitter amplitude between the gradient grating encoder disk 7 and the sensor, and outputs a vibration level signal.

[0039] In some embodiments, the vibration detection device is a triaxial accelerometer, which collects the vibration acceleration of the encoder 2 housing in three directions at a sampling frequency of 2kHz. A digital signal processor performs a fast Fourier transform on the acceleration signal to extract the main vibration frequencies and amplitudes. Combined with the structural parameters of the encoder 2, it estimates the relative displacement jitter amplitude and classifies the jitter amplitude into low, medium, and high vibration levels. Low vibration level corresponds to a jitter amplitude less than 3μm, medium vibration level corresponds to a jitter amplitude of 3-8μm, and high vibration level corresponds to a jitter amplitude greater than 8μm.

[0040] Furthermore, the vibration angle measurement system includes a channel selection device. The channel selection device selects the corresponding grating track on the gradient grating encoder disk 7 as the working channel based on the vibration level signal output by the vibration detection device, and at the same time adjusts the control parameters of the air gap adjustment mechanism of the selected working channel.

[0041] In some embodiments, the channel selection device includes a channel selection circuit and a parameter adjustment circuit. The channel selection circuit executes a channel switching strategy based on the vibration level: a precision track is selected as the working channel for low vibration levels, a standard track is selected for medium vibration levels, and a coarse anti-vibration track is selected for high vibration levels. The parameter adjustment circuit synchronously adjusts the control parameters of the air gap adjustment mechanism of the selected working channel: a high-precision control parameter with a control bandwidth of 100Hz and an air gap accuracy of ±2μm is used for low vibration; a balanced control parameter with a control bandwidth of 60Hz and an air gap accuracy of ±3μm is used for medium vibration; and a stability-priority control parameter with a control bandwidth of 30Hz and an air gap accuracy of ±5μm is used for high vibration. This dual-layer coordination strategy of synchronous adjustment of the channel switching strategy and control parameters ensures that the grating track selection matches the control system parameters, avoiding system oscillation caused by using high-bandwidth control during strong vibrations, or wasting precision by using a coarse grating during low vibrations.

[0042] Furthermore, the vibration angle measurement system includes a limit protection device, which is installed on both sides of the suspension support 4 to limit the suspension stroke of the suspension support 4.

[0043] In some embodiments, the limiting protection device is a rubber limiting block. The rubber limiting block is fixedly installed on the guide frame by bolts and is respectively set at both ends of the radial movement path of the suspension bracket 4. The rubber limiting block limits the stroke of the suspension bracket 4 within ±1mm to prevent the sensor from colliding with the gradient grating encoder disk 7 during extreme vibration. At the same time, the rubber material provides a buffering effect to reduce impact.

[0044] When using the vibration-resistant angle measurement system of this embodiment, firstly, the gradient grating encoder disk 7 is fixed to the output shaft of the servo motor via a key connection to ensure that multiple sets of grating tracks are concentric with the shaft and that the radial position is stable during rotation. The guide frame is fixed to the encoder 2 housing with bolts, and multiple guide shafts are respectively fixed radially to the guide frame. The linear bearings on multiple suspension brackets 4 are respectively sleeved on the corresponding guide shafts. The radial position of each suspension bracket 4 is adjusted so that each photoelectric sensor is aligned with the precision track, the standard track, and the coarse vibration-resistant track, respectively.

[0045] Under static conditions, the air gap sensor was calibrated, and the positions of each suspension bracket 4 were adjusted so that the air gap value measured by the eddy current displacement sensor reached the target value. The target air gap for the precision track was 0.15mm, the target air gap for the standard track was 0.20mm, and the target air gap for the coarse vibration-resistant track was 0.25mm. These were recorded as the air gap setting values ​​for each channel.

[0046] The air gap adjustment mechanism is activated, and the control circuit reads the air gap value measured in real time by the eddy current displacement sensor, compares it with the set value to calculate the deviation, and drives the voice coil motor 8 to adjust the position of the suspension bracket 4, forming a closed-loop control with a constant air gap. The vibration detection device continuously collects the vibration acceleration signal of the encoder 2 housing, extracts the main vibration frequency and amplitude through fast Fourier transform, estimates the relative displacement jitter amplitude between the gradient grating encoder disk 7 and the sensor by combining the structural parameters of the encoder 2, and outputs the current vibration level.

[0047] The channel selection device executes a channel switching strategy based on the vibration level. Under low vibration conditions (judder amplitude less than 3μm), a precision track is selected as the working channel, employing high-bandwidth control parameters with a control bandwidth of 100Hz, achieving an air gap following accuracy of ±2μm, a maximum resolution of 6000 pulses / revolution, and an angular resolution of 0.06°. Under medium vibration conditions (judder amplitude 3-8μm), the system switches to a standard track, employing medium-bandwidth control parameters with a control bandwidth of 60Hz, achieving an air gap following accuracy of ±3μm, a resolution of 3000 pulses / revolution, and an angular resolution of 0.12°, balancing resolution and vibration resistance. Under high vibration conditions (judder amplitude greater than 8μm), the system switches to a coarse-resistance track, employing stability-priority control parameters with a control bandwidth of 30Hz, achieving an air gap following accuracy of ±5μm, a resolution of 1500 pulses / revolution, and an angular resolution of 0.24°, ensuring reliability.

[0048] On the selected working channel, the air gap adjustment mechanism operates continuously. The eddy current displacement sensor samples the air gap distance at a frequency of 5kHz. When vibration causes the gradient grating encoder disk 7 to produce radial displacement relative to the housing, the air gap distance changes. After detecting the deviation, the control circuit immediately drives the voice coil motor 8 to adjust the position of the suspension bracket 4, so that the photoelectric sensor moves synchronously with the vibration displacement of the gradient grating encoder disk 7, dynamically maintaining a constant air gap.

[0049] The air gap adjustment mechanism compensates for vibrations within the control bandwidth, reducing air gap fluctuations from 5-15 μm without control to ±2-5 μm. The gradient grating provides a matching linewidth based on the residual vibration amplitude; even with control delays or high-frequency vibration components exceeding the control bandwidth, the larger linewidth keeps the proportion of residual jitter within a safe range. The channel selection device synchronously optimizes channel selection and control parameters according to the vibration environment, avoiding system oscillations caused by using high-bandwidth control during strong vibrations, or wasting precision by using coarse gratings during low vibrations.

[0050] The controller converts pulse counts into angle values ​​based on the pulse resolution of the current working channel. During channel switching, the angle count values ​​are continuously compensated according to the resolution ratio before and after the switch to ensure a smooth and seamless angle output during the switch.

[0051] In some embodiments, the following steps are performed during channel switching: When the channel selection circuit detects a change in vibration level requiring channel switching, it first records the pulse count value and corresponding angle value of the current working channel. Then, it activates the photoelectric sensor of the new channel, reads the pulse count value of the new channel, calculates the angle difference based on the resolution ratio of the two channels, initializes and compensates the angle count value of the new channel to ensure continuous angle output before and after switching, and then switches to the new channel as the working channel, stopping data acquisition from the original channel. These channel switching steps ensure that channel switching does not affect the continuity and accuracy of angle measurement.

[0052] The vibration-resistant angle measurement system of this embodiment uses a dual-layer collaborative vibration-resistant mechanism of active position compensation and passive parameter adaptation, which overcomes the inadequacy of a single vibration-resistant method in complex vibration environments, thereby solving the technical problem of angle measurement error caused by encoder vibration errors in strong vibration environments.

[0053] The specific logic is as follows: The first layer is active position compensation. Through the suspension bracket 4 and the air gap adjustment mechanism, the photoelectric sensor actively follows the vibration displacement of the gradient grating encoder disk 7, dynamically maintaining a constant air gap. Vibrations within the control system's bandwidth are effectively compensated, stabilizing the relative position of the sensor and the grating lines and eliminating most relative vibrations. The second layer is passive parameter adaptation. The active control system is limited by control bandwidth, sensor response time, and actuator dynamic performance. It cannot fully compensate for high-frequency vibration components or transient impact vibrations exceeding the bandwidth, resulting in residual relative jitter. The gradient grating adaptively selects its linewidth based on the overall vibration environment. When vibration is strong and residual jitter is large, a coarse grating is selected to keep the proportion of residual jitter to the linewidth within a safe range. When vibration is small and residual jitter is weak, a fine grating is selected to fully utilize the active compensation effect to obtain high resolution, providing fault tolerance for the active control system.

[0054] The two-layer mechanism achieves parameter coordination through a channel selection device. When the vibration environment changes, it synchronously adjusts the grating track selection and control system parameters, ensuring the two mechanisms always operate in an optimal coordinated state. Based on control theory and signal processing principles, active air gap compensation reduces the vibration transmissibility within the control bandwidth to 0.1-0.2, and the residual vibration amplitude to 10-20% of the original vibration. The adaptive linewidth of the gradient grating keeps the residual vibration's proportion of the linewidth below a safe threshold, ensuring pulse edge stability. The tandem action of the two mechanisms results in an overall vibration resistance far exceeding that of a single mechanism. In a 15μm vibration jitter environment, active compensation reduces it to 3μm, and the 60μm coarse grating ensures that the 3μm jitter accounts for only 5% of the linewidth, resulting in excellent pulse signal quality.

[0055] Therefore, the dual-layer collaborative vibration resistance mechanism of active position compensation and passive parameter adaptation combines the efficient compensation capability of active control with the reliable fault tolerance capability of passive adaptation, eliminating relative vibration as the root cause of encoder 2 bit errors. At the same time, through parameter adaptation, it maintains the optimal accuracy-reliability balance under various vibration environments, thus comprehensively solving the encoder 2 vibration bit error problem. It realizes high-precision and high-reliability angle measurement under strong vibration environments, enabling intelligent outdoor floodlighting devices to maintain accurate illumination direction control in complex vibration environments such as ports and overpasses.

Claims

1. An intelligent outdoor floodlighting device, characterized in that, It includes a lamp body assembly, a quick-release base, a single-axis servo adjustment mechanism, and a vibration-resistant angle measurement system, wherein the vibration-resistant angle measurement system includes: A gradient grating encoder disk is fixed on the output shaft of a servo motor. The gradient grating encoder disk is a circular disk with multiple sets of concentric circular grating tracks engraved on its surface. Each grating track is formed by alternating high-reflection stripes and low-reflection stripes. The stripe line widths of different grating tracks are different, and the grating tracks are arranged sequentially in the radial direction. A suspended sensor assembly includes a photoelectric sensor and a suspended bracket. The photoelectric sensor is fixed on the suspended bracket, and the suspended bracket is connected to an encoder housing via a linear guide mechanism. The linear guide mechanism guides in a radial direction, and the suspended bracket can slide radially relative to the encoder housing. An air gap adjustment mechanism is disposed between the suspension bracket and the gradient grating encoder disk. The air gap adjustment mechanism includes an air gap detection device and a driving device. The air gap detection device is installed on the suspension bracket and measures the air gap distance between the suspension bracket and the surface of the gradient grating encoder disk. The power output end of the driving device is connected to the suspension bracket. The driving device adjusts the radial position of the suspension bracket according to the air gap distance measured by the air gap detection device. The photoelectric sensor includes a light-emitting diode and a photodetector, which are arranged side by side on the same side of the gradient grating encoding disk, and the surface of the gradient grating encoding disk is coated with a reflective layer.

2. The intelligent outdoor floodlighting device according to claim 1, characterized in that, The gradient grating encoder disk includes three sets of concentric circular grating tracks, which are, from the inside out, a precision track, a standard track, and a coarse vibration-damping track. The line width of the precision track is smaller than that of the standard track, and the line width of the standard track is smaller than that of the coarse vibration-damping track.

3. The intelligent outdoor floodlighting device according to claim 1, characterized in that, The linear guide mechanism includes a guide frame, a guide shaft, and a linear bearing. The guide frame is fixed on the encoder housing. The guide shaft is arranged radially and fixed on the guide frame. The linear bearing is mounted on the suspension bracket and sleeved on the guide shaft. The linear bearing restricts the suspension bracket to slide only along the axial direction of the guide shaft.

4. The intelligent outdoor floodlighting device according to claim 1, characterized in that, The air gap detection device is an eddy current displacement sensor, which is fixed on the suspension bracket by a mounting bracket. The eddy current displacement sensor measures the air gap distance between the suspension bracket and the surface of the gradient grating encoder disk in a non-contact manner.

5. The intelligent outdoor floodlighting device according to claim 4, characterized in that, The driving device is a voice coil motor. The stator of the voice coil motor is fixed on the guide frame, and the mover of the voice coil motor is fixed on the suspension bracket through a connecting plate. The voice coil motor adjusts the radial position of the suspension bracket according to the deviation between the air gap distance measured by the eddy current displacement sensor and the set value.

6. The intelligent outdoor floodlighting device according to claim 5, characterized in that, The air gap adjustment mechanism includes a control circuit. The control circuit receives the air gap distance signal measured by the eddy current displacement sensor, compares it with the set target air gap value to calculate the deviation, and drives the voice coil motor to adjust the position of the suspension support according to the deviation signal, thereby forming a closed-loop control with a constant air gap.

7. The intelligent outdoor floodlighting device according to claim 1, characterized in that, It also includes a vibration detection device, which is installed on the encoder housing. The vibration detection device collects vibration acceleration signals in real time, performs spectrum analysis and displacement integration calculation through a digital signal processor, estimates the relative displacement jitter amplitude between the gradient grating encoder disk and the photoelectric sensor, and outputs a vibration level signal.

8. The intelligent outdoor floodlighting device according to claim 7, characterized in that, It also includes a channel selection device, which selects the corresponding grating track on the gradient grating encoder disk as the working channel based on the vibration level signal output by the vibration detection device, and adjusts the control parameters of the air gap adjustment mechanism of the selected working channel at the same time.

9. The intelligent outdoor floodlighting device according to claim 1, characterized in that, It also includes a limit protection device, which is disposed on both sides of the suspension support. The limit protection device is a rubber limit block, which is fixed on the guide frame and restricts the movement of the suspension support.

10. A method for measuring the vibration resistance angle of an intelligent outdoor floodlighting device, characterized in that, The intelligent outdoor floodlighting device according to claim 1 includes the following steps: Step S1: Fix the gradient grating encoder disk on the output shaft of the servo motor, and adjust the radial position of the suspension bracket so that the photoelectric sensor is aligned with the grating track of the gradient grating encoder disk. Step S2: Start the air gap adjustment mechanism, the control circuit reads the air gap distance measured by the air gap detection device, compares it with the set target air gap value to calculate the deviation, and drives the drive device to adjust the position of the suspension support to form a closed-loop control with constant air gap. Step S3: The vibration detection device collects the vibration acceleration signal of the encoder housing, estimates the relative displacement jitter amplitude between the gradient grating encoder disk and the photoelectric sensor through spectrum analysis and displacement integration calculation, and outputs the vibration level signal. Step S4: The channel selection device selects the corresponding grating track on the gradient grating encoder disk as the working channel according to the vibration level signal, and at the same time adjusts the control parameters of the air gap adjustment mechanism of the working channel. In step S5, the air gap adjustment mechanism continues to work. When the vibration causes the gradient grating encoder disk to produce radial displacement relative to the encoder housing, the drive device adjusts the position of the suspension bracket so that the photoelectric sensor moves synchronously with the vibration displacement of the gradient grating encoder disk, dynamically maintaining a constant air gap. In step S6, the photoelectric sensor detects the change in light intensity through the working channel and generates a pulse signal, and the controller counts the pulses to obtain the rotation angle.

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